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Performance on benchmark datasets has drastically improved with advances in deep learning. Still, cross-dataset generalization performance remains relatively low due to the domain shift that can occur between two different datasets. This domain shift is especially exaggerated between synthetic and real datasets. Significant research has been done to reduce this gap, specifically via modeling variation in the spatial layout of a scene, such as occlusions, and scene environmental factors, such asarXiv:1809.06256v2 fatcat:kblrvcs5cfhh5ovs2ohszodo2u