{"paper":{"title":"From a Single Demonstration to a General Policy for Contact-Rich Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Oliver Brock, Xing Li","submitted_at":"2026-05-17T18:58:03Z","abstract_excerpt":"We present a Learning from Demonstration (LfD) framework that achieves one-shot generalization in multi-stage, contact-rich manipulation tasks. Central to our approach is the utilization of environmental constraints as the inductive bias. By representing a demonstration as a sequence of behaviors that exploit environmental constraints, the robot separates task-general structure -- the constraint types and their transitions -- from instance-specific details such as exact demonstration trajectories, poses, and local geometries. Our four-stage pipeline builds a complete policy on this representat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.17601","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.17601/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"ai_meta_artifact","ran_at":"2026-05-19T21:33:23.575054Z","status":"skipped","version":"1.0.0","findings_count":0},{"name":"claim_evidence","ran_at":"2026-05-19T21:21:57.504435Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"bbccfe59d1cfe6c52af7247158bd8f935ddf40d330e00fcad9f4ac907a33aa40"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}