Learning from human demonstrations has exhibited remarkable achievements in robot manipulation. However, the challenge remains to develop a robot system that matches human capabilities and data efficiency in learning and generalizability, particularly in complex, unstructured real-world scenarios. We propose a system that processes RGBD videos to translate human actions to robot primitives and identifies task-relevant key poses of objects using Grounded Segment Anything. We then address challenges for robots in replicating human actions, considering the human-robot differences in kinematics and collision geometry. To test the effectiveness of our system, we conducted experiments focusing on manual dishwashing. With a single human demonstration recorded in a mockup kitchen, the system achieved 50-100% success for each step and up to a 40% success rate for the whole task with different objects in a home kitchen. Videos are available at https://robot-dishwashing.github.io