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Field notes on perception in bad conditions.
2026-10-08 · field note
Why off-road models call tree canopy “sky” — and why more augmentation didn’t fix it
Synthetic bad weather made real-weather sky accuracy worse on every architecture we tried. The cause was a geometry missing from the training data, and fixing that was worth an order of magnitude more than any augmentation.
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2026-10-08 · benchmark
Night cuts off-road segmentation by up to 64% — and synthetic data only wins part of it back
What dust, night, fog and lens mud do to SegFormer and DeepLab on RELLIS-3D, how much 200 synthetic frames recover, and the synthetic-to-real gap in one number.
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