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---
license: apache-2.0
pipeline_tag: depth-estimation
---
This repository contains the Camera Depth Model (CDM) of the paper [Manipulation as in Simulation: Enabling Accurate Geometry Perception in Robots](https://huggingface.co/papers/2509.02530).
The Camera Depth Models (CDMs) are proposed as a simple plugin on daily-use depth cameras, which take RGB images and raw depth signals as input and output denoised, accurate metric depth. This enables accurate geometry perception in robots by effectively bridging the sim-to-real gap for manipulation tasks.
Project page: https://manipulation-as-in-simulation.github.io/
Code: https://github.com/ByteDance-Seed/manip-as-in-sim-suite
## Sample Usage
To run depth inference on RGB-D camera data, use the `infer.py` script provided in the `cdm` directory of the main repository.
```bash
cd cdm
python infer.py \
--encoder vitl \
--model-path /path/to/model.pth \
--rgb-image /path/to/rgb.jpg \
--depth-image /path/to/depth.png \
--output result.png
``` |