Principle:ARISE Initiative Robosuite Instance Randomization Configuration
Metadata:
- robosuite
- Sim_To_Real_Transfer
- Configuration
- Last Updated: 2026-02-15 12:00 GMT
Overview
Global configuration flag that controls whether domain randomization operates at the per-instance level (entire robot arm) versus per-geom level (individual links).
Description
When USING_INSTANCE_RANDOMIZATION is True, geom groups are assigned uniformly per instance (e.g., entire robot arm gets same randomization) rather than per individual geom. This provides more coherent visual randomization where all parts of a single object share consistent appearance changes. Must be set BEFORE environment creation as it affects how the MuJoCo model geometry groups are configured.
Usage
Set this flag to True at the start of any script using domain randomization, before calling robosuite.make().
Theoretical Basis
Instance-level vs geom-level randomization. Per-geom gives maximum visual diversity but can create unrealistic appearances (each link of an arm a different color). Per-instance gives coherent object appearance while still providing domain variation. This is a design choice for the randomization granularity.