WALDO: One-Shot Exemplar-Conditioned Object Detection in Cluttered Scenes
Locating a specific object instance in a cluttered scene using a single reference image and a short description, and reporting when that instance is absent, large vision-language models usually address this task. We ask whether the same capability is available far more cheaply, from representations already learned by a world-model pretraining objective. We present WALDO, a one-shot exemplar- and language-conditioned detection head with 3.4M trainable parameters that reads frozen V-JEPA 2.1 features to jointly predict object localization and target presence, with no gradient on the backbone. Because exemplar-conditioned supervision is scarce, we synthesize training episodes from instance a...
| Authors | Kishor Datta Gupta, Ahmed Rafi Hasan, Md. Mahfuzur Rahman et al. |
|---|---|
| Primary category | cs.CV |
| Published | 28 August 2026 |
| Last updated at source | 28 August 2026 |
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