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By generating a wider range of data, we might find that a neural network could learn to better generalize across the full scope of the problem. DR helps ensure that we include the range that best matches reality, including long-tail anomalies. Ī critical tool for overcoming these domain gaps is domain randomization (DR), which increases the size of the domain generated for a synthetic dataset. This includes factors like the number of objects in the scene, their diversity of type and placement, and similar contextual information. Content gap: Refers to the difference between the domains.These differences can be a result of differences in object detail, materials, or in the case of synthetic data, differences in the capabilities of the rendering system used. Appearance gap: The pixel level differences between two images.
This gap is called the domain gap, which can be divided into two pieces: Given that synthetic data sets are generated using simulation, it is critical to close the gap between the simulation and the real world. A few images from the test set of real 1,000 images Sim2Real domain gap But Trimble had to develop a cost-effective and reliable workflow to train ML-based perception models so that Spot could autonomously operate in different indoor settings.īy generating data from a synthetic indoor environment using structured domain randomization within NVIDIA Isaac Replicator, you can train an off-the-shelf object detection model to detect doors in the real indoor environment.įigure 1. Trimble plans to deploy Boston Dynamics’ Spot in a variety of indoor settings and construction environments.
We explored using synthetic data generated from synthetic environments for a recent project. The NVIDIA Isaac Sim development team used Omniverse Replicator SDK to build NVIDIA Isaac Replicator, a robotics-specific synthetic data generation toolkit, exposed within the NVIDIA Isaac Sim app. Omniverse Replicator is an SDK built on the NVIDIA Omniverse platform that enables you to build custom synthetic data generation tools and workflows. Researchers from NVIDIA have introduced a structured domain randomization system within Omniverse Replicator that can help you train and refine models using synthetic data. In the event that you need a modern launcher with support for outdated versions of.Synthetic data is an important tool in training machine learning models for computer vision applications.
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