Pose estimation-guided unseen object 6-degree of freedom (6-DoF) robotic manipulation is a key task in robotics. However, the scalability of current pose estimation methods to unseen objects remains a fundamental challenge, as they generally rely on computer-aided design (CAD) models or dense reference views of unseen objects, which are difficult to acquire, ultimately limit their scalability. In this article, we introduce a novel task setup, referred to as SinRef-6D, which addresses 6-DoF absolute pose estimation for unseen objects using only a single pose-labeled reference RGB-D image captured during robotic manipulation. This setup is more scalable yet technically nontrivial due to large pose discrepancies and the limited geometric and spatial information contained in a single view. To address these issues, our key idea is to iteratively establish pointwise alignment in a common coordinate system with state space models (SSMs) as backbones. Specifically, to handle large pose discrepancies, we introduce an iterative object-space pointwise alignment strategy. Then, Point and RGB SSMs are proposed to capture long-range spatial dependencies from a single view, offering superior spatial modeling capability with linear complexity. Once pretrained on synthetic data, SinRef-6D can estimate the 6-DoF absolute pose of an unseen object using only a single reference view. With the estimated pose, we further develop a hardware–software robotic system and integrate the proposed SinRef-6D into it in real-world settings. Extensive experiments on six benchmarks and in diverse real-world scenarios demonstrate that our SinRef-6D offers superior scalability. Additional robotic grasping experiments further validate the effectiveness of the developed robotic system.