CLON (Cue‑Calibrated Linguistic Object Onboarding) is a zero‑shot front‑end for 6D pose estimation that requires no task‑specific training for new objects. It builds a linguistic semantic memory from rendered templates to generate high‑recall proposals and computes fixed cue weights to calibrate proposal scoring. On seven BOP‑Classic‑Core datasets, CLON boosts detection AP by 8.1 pp, segmentation AP by 6.2 pp, and downstream 6D pose AR by up to 4.1 pp compared to existing front‑ends.
arXiv:2605. 29539v2 Announce Type: replace-cross Abstract: Vision-language foundation models have shown promising zero-shot generalization for Cross-Domain Few-Shot Object Detection (CD-FSOD).
RYOPO is an end‑to‑end query‑based RGB‑D set predictor that jointly detects, segments, and estimates 9‑DoF poses of unseen instances within known categories without relying on external instance segmentation or CAD priors. It uses shared image and scene encoding, a query‑conditioned geometry pathway, and object‑centric refinement with pose‑conditioned cross‑attention to achieve accurate pose estimation. On benchmark datasets such as NOCS, REAL275, and HouseCat6D, RYOPO outperforms published methods and runs in real time at 31.8 FPS on an RTX A6000.
arXiv:2603.26788v3 Announce Type: replace-cross Abstract: Zero-shot object navigation requires agents to locate unseen targets in unfamiliar environments without prior maps or task-specific training....
arXiv:2609.09396v1 Announce Type: new Abstract: As Vision-Language Models (VLMs) advance toward physical deployment, the focus has remained on action-oriented Embodied AI evaluated on subject-centric...
arXiv:2609.23431v1 Announce Type: new Abstract: Human-object interaction (HOI) detection requires grounding an interacting human-object pair and recognizing the verb that links them, often under seve...
The paper introduces OpenRef, a benchmark for Referring Expression Comprehension (REC) designed for open‑world scenarios. OpenRef expands beyond simple settings by including diverse visual domains, variable target counts (multi‑target and none‑target), and a rich vocabulary with proper nouns, polysemous words, and ordinal terms. It also proposes new evaluation metrics—F1 for grounding accuracy and N3R for negative expression rejection—and presents a training‑free Multi‑task Consistency Checker (MCC) that improves model performance with a single click.
arXiv:2608.29183v1 Announce Type: new Abstract: Conditional flow matching has enabled a step forward in object 6D pose estimation, achieving state-of-the-art performance by progressively denoising an...
Building memory is essential for long-horizon planning in zero-shot embodied navigation. Detector-centric scene graphs often compress observations into sparse nodes, discarding fine-grained visual evidence and accumulating noise, while 3D reconstruction-based methods remain computationally prohibitive.
arXiv:2608.28216v1 Announce Type: new Abstract: Locating a specific object instance in a cluttered scene using a single reference image and a short description, and reporting when that instance is ab...
Falcon Perception-HD applies reinforcement learning (GRPO) to autoregressive perception models, aligning them directly with precision and recall metrics rather than relying on maximum‑likelihood fine‑tuning. The RL framework introduces reward design for set‑structured outputs and multi‑head sampling control, enabling state‑of‑the‑art performance in very dense scenes (up to 500 objects) and eliminating common issues such as mask repetitions, NMS, and coordinate deduplication. Hybrid self‑annotation pipelines tailored for difficult referring expressions and dense scenes further boost RL training, with improvements observed across all difficulty levels on PBench and SACO‑Gold, and the model preserves object existence knowledge without negative samples.
In the pursuit of robust and generalizable category-level object pose estimation, most existing methods adopt parametric formulations that learn effective representations from data, yet they primarily encode category-level patterns into fixed shape priors or static parameter weights, which limits their scalability to highly diverse instances. In this paper, we rethink category-level pose estimation from a memory-centric perspective and present MemPose, a memory-augmented framework that explicitly incorporates category-level geometric memory into the pose estimation pipeline.
arXiv:2607. 04930v1 Announce Type: cross Abstract: In the pursuit of robust and generalizable category-level object pose estimation, most existing methods adopt parametric formulations that learn effective representations from data, yet they primarily encode category-level patterns into fixed shape priors or static parameter weights, which limits their scalability to highly diverse instances.