“…Learning from synthetic data. Training the model on large-scale synthetic datasets has been extensively studied in semantic segmentation [44,45,17,16,9,19,37,38,56], multi-view stereo [20], depth estimation [51], optical flow [43,21,23], amodal segmentation [18], and object detection [9,33]. In our work, we show that the proposed cross-domain consistency loss can be applied not only to synthetic-to-real adaptation but to real-to-real adaptation tasks as well.…”