# TReF-6: Inferring Task-Relevant Frames from a Single Demonstration for One-Shot Skill Generalization

## TL;DR

TReF-6 introduces a method to infer a task-relevant spatial frame from a single demonstration, enabling robots to generalize skills across different scenes by combining geometric inference with semantic grounding.

## Contribution

The paper presents a novel approach to infer a simplified 6DoF task frame from a single trajectory, integrating geometric and semantic information for improved one-shot skill generalization.

## Key findings

- Robust in simulation despite trajectory noise
- Supports real-world manipulation tasks with diverse objects
- Enables one-shot imitation learning that preserves task intent

## Abstract

Robots often struggle to generalize from a single demonstration due to the lack of a transferable and interpretable spatial representation. In this work, we introduce TReF-6, a method that infers a simplified, abstracted 6DoF Task-Relevant Frame from a single trajectory. Our approach identifies an influence point purely from the trajectory geometry to define the origin for a local frame, which serves as a reference for parameterizing a Dynamic Movement Primitive (DMP). This influence point captures the task's spatial structure, extending the standard DMP formulation beyond start-goal imitation. The inferred frame is semantically grounded via a vision-language model and localized in novel scenes by Grounded-SAM, enabling functionally consistent skill generalization. We validate TReF-6 in simulation and demonstrate robustness to trajectory noise. We further deploy an end-to-end pipeline on real-world manipulation tasks, showing that TReF-6 supports one-shot imitation learning that preserves task intent across diverse object configurations.