Principle:ARISE Initiative Robosuite Lighting Randomization
Metadata:
- robosuite
- Domain Randomization for Sim2Real
- Sim_To_Real_Transfer
- Computer_Vision
- last_updated: 2026-02-15 12:00 GMT
Overview
Technique for randomizing light source properties (position, direction, intensity, color) to improve illumination robustness of learned visual policies.
Description
Lighting randomization varies the properties of light sources in the simulation including position, direction, specular/ambient/diffuse intensities, and whether lights are active. This addresses the significant visual domain gap caused by differences in lighting conditions between simulation and real environments.
Usage
Use when visual observations are part of the policy input and lighting conditions in the target environment may vary.
Theoretical Basis
Lighting significantly affects rendered images. Specular highlights, shadows, and ambient illumination all change with light parameters. By training across varied lighting, the policy becomes robust to real-world illumination variations.