Domain shift

A difference between the conditions represented in training or evaluation data and those encountered elsewhere.

For robotics, changes can involve objects, lighting, camera position, hardware or operator behavior. Evaluate important changes separately so a strong overall result does not conceal a weak deployment condition. Domain shift is broader than a change in the underlying relationship between inputs and labels.

In practice

A policy trained on one workcell is evaluated on a second camera arrangement and a different part finish.

Further reading

• LeRobot: learning from interventions