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

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Fine-grained object (FO) manipulation requires robots to distinguish a specified FO from visually similar objects and execute actions reliably despite scene distractors. However, scene-level visual conditioning lacks explicit object selection, while category-level guidance cannot reliably distinguish FOs within the same category. We present a SAM3-guided visuomotor framework that addresses these challenges through persistent object memory and focused visual conditioning. First, we introduce FO Memory-driven SAM3 (FOM-SAM3), which learns reusable FO memory tokens from limited multi-view registr

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