# AISPO: Enhancing Depth Reliability for Robotic Manipulation of Non-Lambertian Objects via Affine-Invariant Shape Prior

arXiv: https://arxiv.org/abs/2606.25503 · HTML: https://mlsanity.com/paper/2606.25503/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 35 of its 47 references that are in the map.
- First posted on arXiv 24 Jun 2026.

## Builds on (most cited first, 30 of 35)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [Depth Anything 3: Recovering the Visual Space from Any Views](https://mlsanity.com/paper/2511.10647/) (2025)
- [RefineNet: Multi-Path Refinement Networks for High-Resolution Semantic Segmentation](https://mlsanity.com/paper/1611.06612/) (2016)
- [Depth Pro: Sharp Monocular Metric Depth in Less Than a Second](https://mlsanity.com/paper/2410.02073/) (2024)
- [Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimation](https://mlsanity.com/paper/2404.15506/) (2024)
- [Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation](https://mlsanity.com/paper/2312.02145/) (2023)
- [π3: Permutation-Equivariant Visual Geometry Learning](https://mlsanity.com/paper/2507.13347/) (2025)
- [ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrations](https://mlsanity.com/paper/2107.14483/) (2021)
- [MiDaS v3.1 -- A Model Zoo for Robust Monocular Relative Depth Estimation](https://mlsanity.com/paper/2307.14460/) (2023)
- [ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulation](https://mlsanity.com/paper/1910.02550/) (2019)
- [Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects](https://mlsanity.com/paper/2110.14217/) (2021)
- [RealmDreamer: Text-Driven 3D Scene Generation with Inpainting and Depth Diffusion](https://mlsanity.com/paper/2404.07199/) (2024)
- [Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations](https://mlsanity.com/paper/2104.01542/) (2021)
- [Prompting Depth Anything for 4K Resolution Accurate Metric Depth Estimation](https://mlsanity.com/paper/2412.14015/) (2024)
- [GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF](https://mlsanity.com/paper/2210.06575/) (2022)
- [RGB-D Local Implicit Function for Depth Completion of Transparent Objects](https://mlsanity.com/paper/2104.00622/) (2021)
- [TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and a Grasping Baseline](https://mlsanity.com/paper/2202.08471/) (2022)
- [Domain Randomization-Enhanced Depth Simulation and Restoration for Perceiving and Grasping Specular and Transparent Objects](https://mlsanity.com/paper/2208.03792/) (2022)
- [ClearPose: Large-scale Transparent Object Dataset and Benchmark](https://mlsanity.com/paper/2203.03890/) (2022)
- [Seeing Glass: Joint Point Cloud and Depth Completion for Transparent Objects](https://mlsanity.com/paper/2110.00087/) (2021)
- [Iterative Vision-and-Language Navigation](https://mlsanity.com/paper/2210.03087/) (2022)
- [ZeST: Zero-Shot Material Transfer from a Single Image](https://mlsanity.com/paper/2404.06425/) (2024)
- [SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo](https://mlsanity.com/paper/2106.16118/) (2021)
- [MVTrans: Multi-View Perception of Transparent Objects](https://mlsanity.com/paper/2302.11683/) (2023)

## Abstract (arXiv)

Reliable depth perception is critical for robotic manipulation, especially for non-Lambertian objects such as transparent or highly specular surfaces, where raw depth measurements are often corrupted or missing. These failures frequently propagate to motion planning, resulting in invalid grasp poses and execution errors. We propose AISPO, a depth completion framework that improves depth reliability for manipulation in challenging sensing conditions. AISPO combines multi-scale RGB-D feature fusion with an affine-invariant shape prior to enforce geometric consistency and mitigate catastrophic depth failures. Unlike methods that focus primarily on average depth accuracy, our approach emphasizes physical plausibility and structural integrity of the predicted depth maps. Extensive benchmark evaluations demonstrate competitive performance and strong generalization to unseen objects and novel scenes. Real-world grasping experiments further show that enhanced depth reliability significantly improves manipulation success rates, particularly for transparent objects where many existing methods fail to produce physically usable depth estimates.