# DeLTa: Demonstration and Language-Guided Novel Transparent Object Manipulation

arXiv: https://arxiv.org/abs/2510.05662 · HTML: https://mlsanity.com/paper/2510.05662/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 50 of its 59 references that are in the map.
- First posted on arXiv 7 Oct 2025.

## Builds on (most cited first, 30 of 50)

- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [SAM 2: Segment Anything in Images and Videos](https://mlsanity.com/paper/2408.00714/) (2024)
- [InstantMesh: Efficient 3D Mesh Generation from a Single Image with Sparse-view Large Reconstruction Models](https://mlsanity.com/paper/2404.07191/) (2024)
- [FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects](https://mlsanity.com/paper/2312.08344/) (2023)
- [YOLOv11: An Overview of the Key Architectural Enhancements](https://mlsanity.com/paper/2410.17725/) (2024)
- [DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion](https://mlsanity.com/paper/1901.04780/) (2019)
- [MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations](https://mlsanity.com/paper/2310.17596/) (2023)
- [AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domains](https://mlsanity.com/paper/2212.08333/) (2022)
- [MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare](https://mlsanity.com/paper/2212.06870/) (2022)
- [FoundationStereo: Zero-Shot Stereo Matching](https://mlsanity.com/paper/2501.09898/) (2025)
- [Hunyuan3D 2.1: From Images to High-Fidelity 3D Assets with Production-Ready PBR Material](https://mlsanity.com/paper/2506.15442/) (2025)
- [DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation](https://mlsanity.com/paper/2403.07788/) (2024)
- [ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulation](https://mlsanity.com/paper/1910.02550/) (2019)
- [WiLoR: End-to-end 3D Hand Localization and Reconstruction in-the-wild](https://mlsanity.com/paper/2409.12259/) (2024)
- [Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects](https://mlsanity.com/paper/2110.14217/) (2021)
- [AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkers](https://mlsanity.com/paper/2306.06531/) (2023)
- [Intel RealSense Stereoscopic Depth Cameras](https://mlsanity.com/paper/1705.05548/) (2017)
- [You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration](https://mlsanity.com/paper/2201.12716/) (2022)
- [ISR-LLM: Iterative Self-Refined Large Language Model for Long-Horizon Sequential Task Planning](https://mlsanity.com/paper/2308.13724/) (2023)
- [KeyPose: Multi-View 3D Labeling and Keypoint Estimation for Transparent Objects](https://mlsanity.com/paper/1912.02805/) (2019)
- [Phantom: Training Robots Without Robots Using Only Human Videos](https://mlsanity.com/paper/2503.00779/) (2025)
- [TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and a Grasping Baseline](https://mlsanity.com/paper/2202.08471/) (2022)
- [cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation](https://mlsanity.com/paper/2310.17274/) (2023)
- [SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment](https://mlsanity.com/paper/2410.18907/) (2024)
- [Any6D: Model-free 6D Pose Estimation of Novel Objects](https://mlsanity.com/paper/2503.18673/) (2025)
- [Guiding Long-Horizon Task and Motion Planning with Vision Language Models](https://mlsanity.com/paper/2410.02193/) (2024)
- [Category-Level Metric Scale Object Shape and Pose Estimation](https://mlsanity.com/paper/2109.00326/) (2021)
- [SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation](https://mlsanity.com/paper/2411.00965/) (2024)
- [Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration](https://mlsanity.com/paper/2504.12609/) (2025)
- [TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimation](https://mlsanity.com/paper/2303.16730/) (2023)

## Built on by (most cited first, 2 of 2)

- [Fast-FoundationStereo: Real-Time Zero-Shot Stereo Matching](https://mlsanity.com/paper/2512.11130/) (2025)
- [Event6D: Event-based Novel Object 6D Pose Tracking](https://mlsanity.com/paper/2603.28045/) (2026)

## Abstract (arXiv)

Despite the prevalence of transparent object interactions in human everyday life, transparent robotic manipulation research remains limited to short-horizon tasks and basic grasping capabilities. Although some methods have partially addressed these issues, most of them have limitations in generalization to novel objects and are insufficient for precise long-horizon robot manipulation. To address this limitation, we propose DeLTa (Demonstration and Language-Guided Novel Transparent Object Manipulation), a novel framework that integrates depth estimation, 6D pose estimation, and vision-language planning for precise long-horizon manipulation of transparent objects guided by natural language task instructions. A key advantage of our method is its single-demonstration approach, which generalizes 6D trajectories to novel transparent objects without requiring category-level priors or additional training. Additionally, we present a task planner that refines the VLM-generated plan to account for the constraints of a single-arm, eye-in-hand robot for long-horizon object manipulation tasks. Through comprehensive evaluation, we demonstrate that our method significantly outperforms existing transparent object manipulation approaches, particularly in long-horizon scenarios requiring precise manipulation capabilities. Project page: https://sites.google.com/view/DeLTa25/