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CLON: Cue-Calibrated Linguistic Object Onboarding for Zero-Shot 6D Pose Front-Ends

arXiv · AI, language, vision and robotics · article · Sep 4, 2026 · UTC

Zero-shot 6D pose estimation pipelines increasingly rely on strong downstream pose solvers, but their performance is often limited by the front-end: object proposals must preserve partially visible true positives while rejecting semantically plausible distractors. We introduce Cue-Calibrated Linguistic Object Onboarding (CLON), a front-end requiring no task-specific training for new objects. Given rendered templates of the onboarded object set, CLON constructs a linguistic semantic memory for top-down proposal generation and object-set cue weights for calibrated proposal scoring. The linguisti

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