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

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/jh2235rr321nry5dtqr2ir8my
- Original: https://arxiv.org/abs/2610.33582

## Summary

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.