# DeFM: A Foundation Model for Learning Robotic Representations from Depth Images

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/p9u6cam51l7r6x8mil2amf9vl
- Original: https://arxiv.org/abs/2601.18923

## Summary

DeFM is a foundation model trained entirely on depth images through self-supervised learning. It uses a DINO-style self-distillation objective to learn geometric and semantic representations from a dataset of 60 million depth images that can generalize across different environments, tasks, and sensors.