SynthRender and IRIS: Open-Source Framework and Dataset for Bidirectional Sim-Real Transfer in Industrial Object Perception

Abstract

Object perception is fundamental for tasks such as robotic material handling and quality inspection. However, modern supervised deep-learning perception models require large datasets for robust automation under semi-uncontrolled conditions. The cost of acquiring and annotating such data for proprietary parts is a major barrier for widespread deployment. In this context, we release SynthRender, an open source framework for synthetic image generation with Guided Domain Randomization capabilities. Furthermore, we benchmark recent Reality-to-Simulation techniques for 3D asset creation from 2D images of real parts. Combined with Domain Randomization, these synthetic assets provide low-overhead, transferable data even for parts lacking 3D files. We also introduce IRIS, the Industrial Real-Sim Imagery Set, containing 32 categories with diverse textures, intra-class variation, strong inter-class similarities and about 20,000 labels. Ablations on multiple benchmarks outline guidelines for efficient data generation with SynthRender. Our method surpasses existing approaches, achieving 99.1% mAP@50 on a public robotics dataset, 98.3% mAP@50 on an automotive benchmark, and 95.3% mAP@50 on IRIS.