Preprint Open access
Towards Fine-Grained Object Manipulation: SAM3-Guided Visuomotor Policy with Persistent Memory Learning and Focused Visual Conditioning
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 sam …