Randomization, noise and delay profiles
Shipped task configs use these randomization, delay, and noise settings:
| Task/config | Randomization | Delay | Noise | Provenance |
|---|---|---|---|---|
waypoint_navigation | target_pose_evolution, a tagged task event at a 0.05 s interval | Action (0, 3) and observation (0, 1) agent steps; per-reset draws use env.seed | Waypoint-relative observation noise: 0.01 m / 2.5° episode bias plus 0.0025 m / 0.5° per-step noise | Legacy task constants; uncalibrated |
locomotion_waypoint_navigation | Inherits target_pose_evolution | Inherits action (0, 3) and observation (0, 1) agent steps | Inherits waypoint-relative observation noise: 0.01 m / 2.5° episode bias plus 0.0025 m / 0.5° per-step noise | Inherited waypoint task config; uncalibrated |
waypoint_navigation with env.sim_to_real_profile=waypoint_navigation_synthetic_v1 | Same target event | Action and observation (1, 2) agent steps, fixed for each episode; 25 Hz means 40–80 ms | Gaussian action noise, standard deviation 0.02 in normalized policy-action units; the waypoint observation noise above remains in metres and radians | synthetic_unmeasured |
| Other shipped task configs | Many define tagged or untagged event terms | No other task config currently enables nonzero action or observation delay | No default task config enables Isaac Lab action_noise_model or observation_noise_model | Per-task terms remain their existing contracts |
The opt-in waypoint fixture can be selected with:
srb agent train --algo sbx_ppo --env waypoint_navigation \
env.sim_to_real_profile=waypoint_navigation_synthetic_v1 \
env.seed=20260908
Delay ranges are integer agent steps. At the profile’s 25 Hz rate, one step is
0.04 s. The profile requires agent_rate=0.04 and rejects a custom
action_noise_model.
This profile is a synthetic fixture, not hardware calibration or evidence of sim-to-real readiness. Calibration requires measured latency and error data.