Towards Fine-Grained Object Manipulation: SAM3-Guided Visuomotor Policy with Persistent Memory Learning and Focused Visual Conditioning

arXiv:2609.21621 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-10-03

Terminology

• Fine-Grained Object — 6× in this paper
• Transformer — 6× in this paper · explained in 2 episodes
• Action Chunking — 4× in this paper · explained in 1 episode
• Diffusion Policy — 4× in this paper
• Focused Spatial-Appearance Encoding — 4× in this paper
• Foundation Model — 4× in this paper · explained in 3 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Embeddings — 3× in this paper · explained in 2 episodes
• Action Chunking with Transformers — 2× in this paper
• Adaptation — 2× in this paper · explained in 1 episode
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Diffusion Policy (DP) — 1× in this paper · explained in 2 episodes
• Domain Shift — 1× in this paper · explained in 4 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Hypernetwork — 1× in this paper · explained in 3 episodes
• Loss Function — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Pruning — 1× in this paper · explained in 4 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• Grounded SAM: Assembling Open-World Models for Diverse Visual Tasks
• Choose What to Observe: Task-Aware Semantic-Geometric Representations for Visuomotor Policy
• SAM2-Adapter: Evaluating & Adapting Segment Anything 2 in Downstream Tasks: Camouflage, Shadow, Medical Image Segmentation, and More
• SAM3-Adapter: Efficient Adaptation of Segment Anything 3 for Camouflage Object Segmentation, Shadow Detection, and Medical Image Segmentation
• Mask to Concept: Auto-Promptable SAM3 via Efficient Test-Time Concept Embedding Search for Few-Shot Annotation

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