How it works
WIZARD watches a single human demonstration and extracts the underlying task structure — the sub-goals, contacts, and motions that make a task succeed — rather than memorising a trajectory. That representation is what lets it adapt instantly to new objects, positions, and environments.
Because the policy reasons about intent instead of replaying motion, it recovers from disturbances and generalises to tasks it has never explicitly been trained on — the behaviour behind the reported improvement on unseen tasks. What the figure does not yet cover is sustained operation in an industrial setting — that is the next stage of the work.