Deep convolutional neural networks have performed remarkably well on many Computer Vision tasks. However, these networks are heavily reliant on big data to avoid overfitting. Overfitting refers to the phenomenon when a network learns a function with very high variance such as to perfectly model the training data. Unfortunately, many application domains do not have access to big data, such as medical image analysis. This survey focuses on Data Augmentation, a data-space solution to the problem of limited data. Data Augmentation encompasses a suite of techniques that enhance the size and qualityResearch goal: To what extent does self-supervised objective scaling improve the generalization gap of visuomotor policies on out-of-distribution object configurations compared to supervised baselines?Autonomous synthesis report generated by SOVEREIGN Research Kernel. Tribunal consensus score: 8.5/10.