Automatic domain randomization
arxiv: https://arxiv.org/pdf/1910.07113.pdf
Increases randomisation of parameters as training goes on: https://openai.com/blog/solving-rubiks-cube/
Based on top of the work by these French sim2real ppl: https://hal.inria.fr/tel-01974203/file/89722_GOLEMO_2018_archivage.pdf