Randomization, noise and delay profiles
SRB configures three things separately: event randomization, action and observation delay, and Isaac Lab action-noise models.
| 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 | Task defaults; 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 enables nonzero action or observation delay | No default task config enables Isaac Lab action_noise_model or observation_noise_model | Per-task terms |
Opt in to the synthetic profile:
srb agent train --algo sbx_ppo --env waypoint_navigation \
env.sim_to_real_profile=waypoint_navigation_synthetic_v1 \
env.seed=20260908
The base config sets env.seed=0. default_seed applies only when the task config has
env.seed=None; any explicit seed, including 0, wins.
Delay ranges count integer agent steps. At 25 Hz, one step is 0.04 s. On reset, each environment samples its delay. Observation-delay history starts with the fresh observation; action-delay history starts with zeros.
Override delay and noise fields only with values matching the task default or
the profile; other values fail. Zero change probability disables boundary
redraws, so subset resets cannot reuse another environment’s history.
The profile requires agent_rate=0.04 seconds and rejects custom
action_noise_model to keep delay and noise units fixed.
The synthetic_unmeasured profile has synthetic delays and Gaussian action
noise, not hardware calibration, sensor statistics, or latency measurements.
RandomizationView exposes active event terms and reports untagged
EventTermCfg fields as UNTAGGED. The profile does not retag other task
configs or enable noise globally.