Abstract
The scarcity of high-quality annotated visual data remains a critical bottleneck for autonomous-driving perception. Simulators provide training data at scale, but the limited realism of synthetic videos compromises perception performance in real-world applications. To address this limitation, we propose NeuralSRender, a sim-to-real video translation framework that enhances the photorealism of synthetic videos while maintaining geometric consistency with the source scenes. Built on a pretrained video diffusion transformer (DiT), NeuralSRender uses a lightweight projector to inject geometric and material priors from G-buffers, and LoRA enables parameter-efficient adaptation. The model is trained in two stages: it first learns G-buffer conditioning from synthetic videos with accurate G-buffers, then adapts to real-world appearance using real videos with estimated G-buffers. During the second stage, an additional LoRA module is trained while the projector and first-stage LoRA remain frozen to reduce interference from estimation noise. NeuralSRender introduces only 1.45\% parameter overhead and can be trained on consumer-grade GPUs with 24 GB of memory. To support training and evaluation, we introduce GenReal, a large-scale driving video dataset comprising synthetic and real-world videos with corresponding G-buffers. Experiments demonstrate improved photorealism with competitive geometric consistency. Training perception models on our translated videos instead of raw simulator renders improves detection $\mathrm{AP}_{50}$ on nuImages from 35.1 to 40.6 and segmentation mIoU on Cityscapes from 32.4 to 40.8. Our code, data, and model weights are available at: this https URL.
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URL
https://arxiv.org/abs/2610.29200
