Domain randomization (or DR) is a widely used technique in reinforcement learning to improve robustness and enable sim-to-real transfer. While prior work has focused extensively on DR in combination with algorithms such as PPO and SAC, its effects on value-based methods like DQN and QR-DQN remain underexplored. This paper investigates how varying degrees and types of DR affect the robustness and generalization capabilities of agents trained with DQN and QR-DQN. We identify clear differences in how DQN and QR-DQN respond to domain randomization, suggesting that naive application may hinder performance, whereas well-targeted distributions can enhance robustness and generalization. These findings underscore the importance of tailored DR strategies for different algorithms and contribute to a deeper understanding of DR’s role in DQN-based methods. ... Read more