Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Close the Visual Domain Gap by Physics-Grounded Active Stereovision
  Depth Sensor Simulation   In this paper, we focus on the simulation of active stereovision depth
sensors, which are popular in both academic and industry communities. Inspired
by the underlying mechanism of the sensors, we designed a fully
physics-grounded simulation pipeline, which includes material acquisition, ray
tracing based infrared (IR) image rendering, IR noise simulation, and depth
estimation. The pipeline is able to generate depth maps with material-dependent
error patterns similar to a real depth sensor. We conduct extensive experiments
to show that perception algorithms and reinforcement learning policies trained
in our simulation platform could transfer well to real world test cases without
any fine-tuning. Furthermore, due to the high degree of realism of this
simulation, our depth sensor simulator can be used as a convenient testbed to
evaluate the algorithm performance in the real world, which will largely reduce
the human effort in developing robotic algorithms. The entire pipeline has been
integrated into the SAPIEN simulator and is open-sourced to promote the
research of vision and robotics communities.

31
The categories of this paper are: ao-sci
4
The categories of this paper are: cond-mat
30
The categories of this paper are: q-alg
12
The categories of this paper are: nucl-th
27
The categories of this paper are: comp-gas
34
The categories of this paper are: chem-ph
14
The categories of this paper are: math-ph
8
The categories of this paper are: hep-ex
6
The categories of this paper are: astro-ph
37
The categories of this paper are: supr-con
32
The categories of this paper are: atom-ph
16
The categories of this paper are: stat
7
The categories of this paper are: hep-th
2
The categories of this paper are: math
0
The categories of this paper are: hep-ph
35
The categories of this paper are: mtrl-th