Render Settings#

Fixed protocol:

  • Level 0: Whole task space, same env cfg

  • Level 1: Randomize Texture

  • Level 2: Randomize Camera Pose

  • Level 3: Rondomize Material/Lighting

Note that each level includes randomizations of the previous levels.

For overall Sim2Real, Randomization is applied on:

  • Task space

  • Material

  • Texture

  • Lighting

  • Camera pose

Setup: Env Wrapper + Asset set