RAPID: Robot Agentic Programming from Demonstrations
RAPID turns one visual human demonstration into verified, reusable robot programs via an agentic coding loop.
RAPID generates, verifies, and refines robot programs from a single visual human demonstration by inferring a task specification, action primitives, and an interactive test environment. Programs are object-centric and relational: primitives are trajectory-optimization problems for object-level effects, composed with run-time geometric constraints. It is evaluated in simulation on eight contact-rich nonprehensile tasks and on LIBERO-Pro prehensile tasks, and deployed on a real Franka arm for all eight nonprehensile tasks. Results report generalization across object pose, shape, material, and environment.
- Builds specification, primitives, and a verifier from one visual demonstration.
- Object-centric relational programs generalize beyond the demonstrated motion.
- Evaluated on eight contact-rich nonprehensile tasks in simulation and on Franka.
- Also tested on prehensile tasks in the LIBERO-Pro benchmark.
From the original article
1 min read at arxiv.orgCoding agents have demonstrated enormous success in solving complex programming problems. To leverage their potential for robot systems, this work introduces Robot Agentic Programming from Demonstrations (RAPID), which automatically generates, verifies, and refines robot programs, given a single visual human demonstration.
By Yuyao Liu · arxiv.org
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