One successful demo becomes an editable skeleton: 92.7% average success across 15 Meta-World tasks
Treating one successful demonstration as an editable skeleton, a learned editor decides when to switch between object-centric stages and how to correct each stage geometrically from sparse success rewards, reaching 92.7% average success on 15 Meta-World tasks and 98.4% average edit success on 9 DexMimicGen tasks.