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arXiv · 2602.14751

Depth Completion as Parameter-Efficient Test-Time Adaptation

Bingxin Ke·Qunjie Zhou·Jiahui Huang·Xuanchi Ren·Tianchang Shen·Konrad Schindler·Laura Leal-Taixé·Shengyu Huang
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Abstract

We introduce CAPA, a parameter-efficient test-time optimization framework that adapts pre-trained 3D foundation models (FMs) for depth completion, using sparse geometric cues. Unlike prior methods that train task-specific encoders for auxiliary inputs, which often overfit and generalize poorly, CAPA freezes the FM backbone. Instead, it updates only a minimal set of parameters using Parameter-Efficient Fine-Tuning (e.g. LoRA or VPT), guided by gradients calculated directly from the sparse observations available at inference time. This approach effectively grounds the foundation model's geometric prior in the scene-specific measurements, correcting distortions and misplaced structures. For videos, CAPA introduces sequence-level parameter sharing, jointly adapting all frames to exploit temporal correlations, improve robustness, and enforce multi-frame consistency. CAPA is model-agnostic, compatible with any ViT-based FM, and achieves state-of-the-art results across diverse condition patterns on both indoor and outdoor datasets. Project page: research.nvidia.com/labs/dvl/projects/capa.

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Bingxin Ke, Qunjie Zhou, Jiahui Huang, Xuanchi Ren, Tianchang Shen, Konrad Schindler, Laura Leal-Taixé, Shengyu Huang. 2026-02-16. Depth Completion as Parameter-Efficient Test-Time Adaptation. https://arxiv.org/abs/2602.14751

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