# PRISM Achieves Realistic Depth Synthesis via Physical Noise Disentanglement, with 92.1% Average Success Rate on Real-Robot Tasks

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/fzn04nzg4elemq5r29xdl8808
- Original: https://arxiv.org/abs/2610.29432

## Summary

The paper proposes the PRISM framework, which disentangles depth noise into two modalities—sensing invalidation and measurement inaccuracy—and distills features from 3D visual foundation models as spatial-semantic priors.