I will say the series gets better as it goes on, so it's safe to assume it'll be the same with the show.
When I first read Invincible, I didn't understand why people hyped it up so much. I thought it was just OK, even with the twists.....It wasn't until the 4th Ultimate Collection hardcover that I really got into it, which means around the 36th issue & up. At first some things seem a little pedestrian, then you realize seemingly insignificant things in past issues actually have some relevance. Also, as an example, in regard to Robot breaking out those villains, it's not a basic "In league with some minor villains for a basic diabolical plot" scheme like it implies. Robot's machinations are far deeper-reaching than it seems.
The true appeal of the comic, IMO, was the world-building, characterization, the cohesive storyline, the twists, and the comedic elements. Also, from what I remember, it was pretty much the same creative team the whole way through (Artists might've changed early on, it's been a while since I read it), and it's a long series. The writing level was on par with Slott's Superior Spider-Man or Will Pfeifer's Catwoman. It's not mind-blowing stuff on par with the best works of Moore or Morrison, but it's entertaining and has pay-offs for people who follow the series from start to finish. And, as one poster said further above, it has a good blend of superhero & sci-fi elements.