CLON: Cue-Calibrated Linguistic Object Onboarding for Zero-Shot 6D Pose Front-Ends
CLON introduces Cue-Calibrated Linguistic Object Onboarding, a training-free front-end for zero-shot 6D pose estimation. It builds linguistic semantic memories from CAD renderings to guide proposal generation and calculates cue weights based on object statistics. This method improves detection, segmentation, and downstream pose accuracy by providing target-aware proposals even under clutter.