Render Settings

Fixed protocol:

• Level 1: Whole task space, same env cfg

• Level 2: Randomize Ground Texture

• Level 3: Randomize Camera Pose

• Level 4: Rondomize “Material”/Lighting

For overall Sim2Real, Randomization is applied on:

• Task space

• Material

• Texture

• Lighting

• Camera pose

Setup: Env Wrapper + Asset set