  Imitation learning with visual observations is notoriously inefficient when
addressed with end-to-end behavioural cloning methods. In this paper, we
explore an alternative paradigm which decomposes reasoning into three phases.
First, a retrieval phase, which informs the robot what it can do with an
object. Second, an alignment phase, which informs the robot where to interact
with the object. And third, a replay phase, which informs the robot how to
interact with the object. Through a series of real-world experiments on
everyday tasks, such as grasping, pouring, and inserting objects, we show that
this decomposition brings unprecedented learning efficiency, and effective
inter- and intra-class generalisation. Videos are available at
https://www.robot-learning.uk/retrieval-alignment-replay.
