Because sns.heatmap returns a matplotlib axis object, we can't really use hm directly. But we can use the cmap object itself to return the rgba values of the data. Edit Code has been updated to include normalization of data.
from matplotlib.colors import Normalize
data = np.random.randn(10, 10)
cmap = cm.get_cmap('Greens')
hm = sns.heatmap(data, cmap=cmap)
# Normalize data
norm = Normalize(vmin=data.min(), vmax=data.max())
rgba_values = cmap(norm(data))
All of the colors are now contained in rgba_values. So to get the color of the upper left square in the heatmap you could simply do
In [13]: rgba_values[0,0]
Out[13]: array([ 0. , 0.26666668, 0.10588235, 1. ])
For more, check out Getting individual colors from a color map in matplotlib
Update
To readjust the colormap from using the center and robust keywords in the call to sns.heatmap, you basically just have to redefine vmin and vmax. Looking at the relevant seaborn source code (http://github.com/mwaskom/seaborn/blob/master/seaborn/matrix.py#L202), the below changes to vmin and vmax should do the trick.
data = np.random.randn(10, 10)
center = 2
robust = False
cmap = cm.coolwarm
hm = sns.heatmap(data, cmap=cmap, center=center, robust=robust)
vmin = np.percentile(data, 2) if robust else data.min()
vmax = np.percentile(data, 98) if robust else data.max()
vmin += center
vmax += center
norm = Normalize(vmin=vmin, vmax=vmax)
rgba_values = cmap(norm(data))