{
  "experiment": "Domain-randomization ablation for lunar terrain semantic segmentation (v2 realistic rocks)",
  "model": "SegFormer-B0 (nvidia/mit-b0 ImageNet backbone, fresh 3-class decode head)",
  "classes": [
    "regolith",
    "rock",
    "sky"
  ],
  "hazard_class": "rock",
  "primary_metric": "val rock-IoU on test_photoreal",
  "dataset_version": "v2 (realistic rock geometry; build_lunar_stage.py rock-realism)",
  "common_config": {
    "loss": "class-weighted cross-entropy (ignore_index=255)",
    "val_split": "test_photoreal (unseen-domain synthetic, 300 frames)",
    "seed": 0,
    "hardware": "NVIDIA DGX Spark (GB10 Grace-Blackwell), NGC pytorch:26.03-py3"
  },
  "runs": {
    "nodr_750": {
      "label": "no-DR control (750 frames)",
      "train_split": "train_nodr",
      "train_frames": 750,
      "domain_randomization": false,
      "rock_iou": 0.8025
    },
    "dr_750": {
      "label": "DR, size-matched (750 frames)",
      "train_split": "train_dr_750",
      "train_frames": 750,
      "domain_randomization": true,
      "rock_iou": 0.8486
    },
    "dr_1500": {
      "label": "DR, full deployed set (1500 frames)",
      "train_split": "train_dr",
      "train_frames": 1500,
      "domain_randomization": true,
      "rock_iou": 0.8521,
      "miou": 0.9269,
      "per_class_iou": {
        "regolith": 0.9556,
        "rock": 0.8521,
        "sky": 0.973
      }
    }
  },
  "headline": {
    "size_matched_dr_gain": {
      "comparison": "dr_750 vs nodr_750 (dataset size held constant at 750)",
      "rock_iou_from": 0.8025,
      "rock_iou_to": 0.8486,
      "absolute_gain": 0.046,
      "relative_gain_pct": 5.7
    },
    "extra_data_gain": {
      "comparison": "dr_1500 vs dr_750 (DR held constant, 750 -> 1500 frames)",
      "rock_iou_from": 0.8486,
      "rock_iou_to": 0.8521,
      "absolute_gain": 0.004
    }
  },
  "evolution_vs_v1": {
    "note": "v2 realistic rocks lift absolute rock-IoU across the board (0.689->0.8025, 0.788->0.8486, 0.815->0.8521) but the size-matched DR gain shrinks: v1 +0.099 vs v2 +0.046, because realistic rock geometry already closes much of the domain gap that DR previously had to bridge.",
    "v1_rock_iou": {
      "nodr_750": 0.689,
      "dr_750": 0.788,
      "dr_1500": 0.815,
      "size_matched_gain": 0.099
    },
    "v2_rock_iou": {
      "nodr_750": 0.8025,
      "dr_750": 0.8486,
      "dr_1500": 0.8521,
      "size_matched_gain": 0.046
    }
  },
  "caveat": "test_photoreal is a synthetic unseen-domain split (held-out sim parameter ranges), not real lunar imagery. The true sim-to-real test is chapter 04."
}