| RoboDojo supports | |
| domain randomization (DR) | |
| during evaluation. Each episode can sample a different visual and physical scene configuration, helping policies generalize beyond a single tabletop appearance. | |
| Your browser does not support the video tag. | |
| Domain randomization demo — varying clutter, materials, lighting, and background across episodes | |
| What can be randomized | |
| Section titled “What can be randomized” | |
| RoboDojo can randomize five major aspects of the scene: | |
| Aspect | |
| Description | |
| Cluttered tabletop objects | |
| Extra distractor objects placed on the table to increase scene complexity | |
| Table material | |
| Random table surface appearance | |
| Floor material | |
| Random ground or floor texture and material | |
| Lighting | |
| Random light type, intensity and color temperature | |
| Background | |
| Random HDR environment map and background appearance | |
| Together, these variations change the scene appearance from episode to episode while keeping the underlying task definition unchanged. |