# AUGCAL: Improving Sim2Real Adaptation by Uncertainty Calibration on Augmented Synthetic Images

arXiv: https://arxiv.org/abs/2312.06106 · HTML: https://mlsanity.com/paper/2312.06106/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 58 of its 79 references that are in the map.
- First posted on arXiv 11 Dec 2023.

## Builds on (most cited first, 30 of 58)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [On Calibration of Modern Neural Networks](https://mlsanity.com/paper/1706.04599/) (2017)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Simple and Scalable Predictive Uncertainty Estimation using Deep Ensembles](https://mlsanity.com/paper/1612.01474/) (2016)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [RandAugment: Practical automated data augmentation with a reduced search space](https://mlsanity.com/paper/1909.13719/) (2019)
- [Unsupervised Domain Adaptation by Backpropagation](https://mlsanity.com/paper/1409.7495/) (2014)
- [Sharpness-Aware Minimization for Efficiently Improving Generalization](https://mlsanity.com/paper/2010.01412/) (2020)
- [Learning Transferable Features with Deep Adaptation Networks](https://mlsanity.com/paper/1502.02791/) (2015)
- [Adversarial Discriminative Domain Adaptation](https://mlsanity.com/paper/1702.05464/) (2017)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [CyCADA: Cycle-Consistent Adversarial Domain Adaptation](https://mlsanity.com/paper/1711.03213/) (2017)
- [Playing for Data: Ground Truth from Computer Games](https://mlsanity.com/paper/1608.02192/) (2016)
- [A Survey of Uncertainty in Deep Neural Networks](https://mlsanity.com/paper/2107.03342/) (2021)
- [ADVENT: Adversarial Entropy Minimization for Domain Adaptation in Semantic Segmentation](https://mlsanity.com/paper/1811.12833/) (2018)
- [Deep Domain Confusion: Maximizing for Domain Invariance](https://mlsanity.com/paper/1412.3474/) (2014)
- [Predictive Uncertainty Estimation via Prior Networks](https://mlsanity.com/paper/1802.10501/) (2018)
- [Intriguing Properties of Vision Transformers](https://mlsanity.com/paper/2105.10497/) (2021)
- [VisDA: The Visual Domain Adaptation Challenge](https://mlsanity.com/paper/1710.06924/) (2017)
- [Contrastive Adaptation Network for Unsupervised Domain Adaptation](https://mlsanity.com/paper/1901.00976/) (2019)
- [Revisiting the Calibration of Modern Neural Networks](https://mlsanity.com/paper/2106.07998/) (2021)
- [Bridging Theory and Algorithm for Domain Adaptation](https://mlsanity.com/paper/1904.05801/) (2019)
- [DAFormer: Improving Network Architectures and Training Strategies for Domain-Adaptive Semantic Segmentation](https://mlsanity.com/paper/2111.14887/) (2021)
- [A Brief Review of Domain Adaptation](https://mlsanity.com/paper/2010.03978/) (2020)

## Built on by (most cited first, 3 of 3)

- [Style Transfer with Diffusion Models for Synthetic-to-Real Domain Adaptation](https://mlsanity.com/paper/2505.16360/) (2025)
- [Control Synthesis with Reinforcement Learning: A Modeling Perspective](https://mlsanity.com/paper/2510.25063/) (2025)
- [Zero-shot Transfer of Reinforcement Learning Control Policies for the Swing-Up and Stabilization of a Cart-Pole System](https://mlsanity.com/paper/2606.22145/) (2026)

## Abstract (arXiv)

Synthetic data (SIM) drawn from simulators have emerged as a popular alternative for training models where acquiring annotated real-world images is difficult. However, transferring models trained on synthetic images to real-world applications can be challenging due to appearance disparities. A commonly employed solution to counter this SIM2REAL gap is unsupervised domain adaptation, where models are trained using labeled SIM data and unlabeled REAL data. Mispredictions made by such SIM2REAL adapted models are often associated with miscalibration - stemming from overconfident predictions on real data. In this paper, we introduce AUGCAL, a simple training-time patch for unsupervised adaptation that improves SIM2REAL adapted models by - (1) reducing overall miscalibration, (2) reducing overconfidence in incorrect predictions and (3) improving confidence score reliability by better guiding misclassification detection - all while retaining or improving SIM2REAL performance. Given a base SIM2REAL adaptation algorithm, at training time, AUGCAL involves replacing vanilla SIM images with strongly augmented views (AUG intervention) and additionally optimizing for a training time calibration loss on augmented SIM predictions (CAL intervention). We motivate AUGCAL using a brief analytical justification of how to reduce miscalibration on unlabeled REAL data. Through our experiments, we empirically show the efficacy of AUGCAL across multiple adaptation methods, backbones, tasks and shifts.