RAPID: Robot Agentic Programming from Demonstrations

TL;DR - RAPID is an agentic system that turns a single visual human demonstration into reusable robot programs, automatically deriving task specifications, action primitives, and a verification environment. It matters because the generated programs generalize across object and scene variations, including contact-rich manipulation on a real robot arm.

• Uses an iterative agentic loop to generate, execute, verify, and refine robot code.
• Represents demonstrations as object-centric relational programs rather than reproducing specific motions.
• Implements action primitives through trajectory optimization and adapts them at runtime using scene-specific geometric constraints.
• Evaluated in simulation and on a Franka arm across eight nonprehensile tasks, with additional simulation tests on LIBERO-Pro prehensile tasks.