Context
Synthetic-to-real robustness needs varied scenes. Right now scenes are clean and fixed. Domain randomization (backgrounds, light direction/intensity, distractor objects, textures) is the standard lever.
What to do
Add typed, seeded randomization knobs to the Scene builder (background, light, N distractors) so a scenario can be sampled deterministically N ways. Keep it typed pydantic; document the ranges in DESIGN.md.
Context
Synthetic-to-real robustness needs varied scenes. Right now scenes are clean and fixed. Domain randomization (backgrounds, light direction/intensity, distractor objects, textures) is the standard lever.
What to do
Add typed, seeded randomization knobs to the Scene builder (background, light, N distractors) so a scenario can be sampled deterministically N ways. Keep it typed pydantic; document the ranges in DESIGN.md.