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Patchwork: A Resource-Sharing System for Domain-Randomized Embodied Simulation

The authors propose Patchwork, a resource-sharing system for domain-randomized simulation built on the E=T+Δ representation, which uses shared templates plus patches to record environment changes, implemented on robosuite and MuJoCo. On LIBERO-plus and RoboCasa365 workloads, at 32 replicas, shared-template execution reduces CPU RSS by 88-92% compared with process-per-environment execution. Experiments show that memory growth depends more on template diversity and unique asset content than on the number of instances.

Part of the event: Patchwork: Domain Randomization Simulation Shared Templates Reduce Memory

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