In 2021, we introduced the Coarse-to-Fine Imitation Learning method, which enables tasks to be learned from a single demonstration. However, it also requires a period of self-supervised training following the demonstration. Therefore, we improved the method by enabling a robot to perform a task immediately after the demonstration, without any further data collection or training. We will be running a live demo of this in the exhibition, and for more information, please read our DOME webpage.