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Victory! I knew this should be possible.

In the notebook:

%r
a <- c(1,2,3)
a

[1] 1 2 3

from sage.interfaces.r import RElement
b = RElement(r,'a')
c = b._sage_()
c

[1, 2, 3]

and then you can do stuff to c because it's not an RElement.

c[1] = 3
c

[1, 3, 3]

I don't know whether this is worth wrapping slightly better, or if that is even possible. But hopefully this works for you!