Domain randomization is supposed to stop a model from memorizing its surroundings. Our thermal-imaging experiment showed us exactly where that idea stops working. Synthetic data comes with a familiar rule: if you don't want the model to memorize something, randomize it. Change the lighting. Change the camera angle. Change the texture. Swap the background, again and again. Do it enough, and the model should stop caring about the scenery and start learning the object itself. Th