Generating synthetic training data for a robotic picking system

A non-transitory computer-readable storage medium, the computer-readable storage medium including instructions that when executed by a computer, cause the computer to:

• acquire a three-dimensional scan of a target object of a type configured to be handled by a robotic picking system;
• generate a model of the target object from the three-dimensional scan;
• using the model to generate a plurality of synthetic training images including the target object;
• and
• provide the synthetic training images to a machine learning model configured to receive input images from the robotic picking system and generate targeting information used to select objects to be picked by the robotic picking system.