World Augmentation
Real-world variation without rebuilding the world — increase evaluation coverage by varying lighting, textures, objects, and sensor conditions within the same physical setup.
Augmentation Pipeline
6 StagesHybrid pipeline combining generative AI (ControlNet, IC-Light) with classical CV for controllable, temporally-consistent scene augmentation.
Preprocessing
Surface / Material
Relighting
Objects
Temporal
Sensor FX
ControlNet SDXLIC-LightSAM2Depth Anything V2RAFT FlowIP-Adapter
Source Scene
Real-world apartment — camera
1920 x 108024 fps8s
Simulation Reference
Isaac Sim domain randomization demo
1920x108030fpsIsaac Sim
Preview
OriginalAugmented
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Parameters
Time of Day
Hanging Lights
Ambient Illuminance(lux)800
Key-Light Elevation(°)45
Colour Temperature(K)5500
HDR Exposure(EV)0.0
Shadow Softness0.50