RAPID: Robot Agentic Programming from Demonstrations

Key points

From a single human demonstration, it automatically inferred the task specification, motion primitives, and verification environment to close the agentic coding loop
An object-centric relational program representation generalized across changes in object shape, pose, material, and scene
It reconstructed the demonstration in simulation and generated scene variants to automatically verify and refine programs
Without human-made success signals or primitives, it outperformed baselines on eight contact-rich, multi-step tasks
It was successfully deployed on a real Franka robot arm for all eight nonprehensile tasks

External research summaries. These are not HDATF publications or measured product results.