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arXiv Computer Vision By Abid Ali, Nidhal Eddine Chenni, Arunkumar Rathinam, Djamila Aouada

TALON: Token-Aligned Lightweight Adapters for 6-DoF Spacecraft Pose Estimation

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TALON introduces Token‑Aligned Lightweight Adapters for 6‑DoF spacecraft pose estimation, inserting spatiotemporal 3D adapters before self‑attention layers of a frozen Vision Transformer. A patch‑token alignment loss grounds adapted features to keypoint structure, enabling the frozen backbone to reason over temporally enriched tokens with minimal added parameters. On the SPADES and SwissCube datasets, TALON cuts pose error by 50% and improves ADD‑0.1d accuracy by 21.8%, respectively, while also achieving significant gains in zero‑shot sim‑to‑real cross‑domain evaluation.

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