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arXiv · 2405.19586

SAM-E: Leveraging Visual Foundation Model with Sequence Imitation for Embodied Manipulation

Junjie Zhang·Chenjia Bai·Haoran He·Wenke Xia·Zhigang Wang·Bin Zhao·Xiu Li·Xuelong Li
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Abstract

Acquiring a multi-task imitation policy in 3D manipulation poses challenges in terms of scene understanding and action prediction. Current methods employ both 3D representation and multi-view 2D representation to predict the poses of the robot's end-effector. However, they still require a considerable amount of high-quality robot trajectories, and suffer from limited generalization in unseen tasks and inefficient execution in long-horizon reasoning. In this paper, we propose SAM-E, a novel architecture for robot manipulation by leveraging a vision-foundation model for generalizable scene understanding and sequence imitation for long-term action reasoning. Specifically, we adopt Segment Anything (SAM) pre-trained on a huge number of images and promptable masks as the foundation model for extracting task-relevant features, and employ parameter-efficient fine-tuning on robot data for a better understanding of embodied scenarios. To address long-horizon reasoning, we develop a novel multi-channel heatmap that enables the prediction of the action sequence in a single pass, notably enhancing execution efficiency. Experimental results from various instruction-following tasks demonstrate that SAM-E achieves superior performance with higher execution efficiency compared to the baselines, and also significantly improves generalization in few-shot adaptation to new tasks.

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Junjie Zhang, Chenjia Bai, Haoran He, Wenke Xia, Zhigang Wang, Bin Zhao, Xiu Li, Xuelong Li. 2024-05-30. SAM-E: Leveraging Visual Foundation Model with Sequence Imitation for Embodied Manipulation. https://arxiv.org/abs/2405.19586

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