  In this work, we introduce a novel method to learn everyday-like multi-stage
tasks from a single human demonstration, without requiring any prior object
knowledge. Inspired by the recent Coarse-to-Fine Imitation Learning method, we
model imitation learning as a learned object reaching phase followed by an
open-loop replay of the demonstrator's actions. We build upon this for
multi-stage tasks where, following the human demonstration, the robot can
autonomously collect image data for the entire multi-stage task, by reaching
the next object in the sequence and then replaying the demonstration, and then
repeating in a loop for all stages of the task. We evaluate with real-world
experiments on a set of everyday-like multi-stage tasks, which we show that our
method can solve from a single demonstration. Videos and supplementary material
can be found at https://www.robot-learning.uk/self-replay.
