This has been answered internally as Ritesh posted the same question in an internal community as well. This is the quote from David Kircheis, who is the product owner of this area. This is so that other community members can benefit from his answers.
SAML 2.0 support was newly added for Oracle Access Manager in the 10gR3 release. However I would certainly use the most recent version you can as there have been security fixes and improvements in their products.
As Kevin notes, Pega provides standard SAML 2.0 compliance and while we may not have tested with your IdP; as long as it is standards compliant it will work. We have found some vendors to not fully comply with the specification and Oracle actually has been a problem for us in this regard in the past. Please share any specific issues you face with us!
P.S. I see you may be on Pega 7.1.9 - we have made lots of improvements to SAML since then! Please be sure you're on the latest Pega release (7.2) and plan to take the next one (7.2.1) to avoid any issues.