RAPID: Robot Agentic Programming from Demonstrations
RAPID turns one visual human demonstration into a robot program it can test, execute, and refine.
The system infers a task specification, action primitives, and an interactive verification environment from the demonstration. Its programs are object-centric and relational, aiming to reuse the demonstrated strategy across new poses, shapes, materials, and settings. The authors report simulation tests on eight contact-rich nonprehensile manipulation tasks and LIBERO-Pro prehensile tasks, plus real-world deployment on a Franka arm for all eight nonprehensile tasks. ArXiv · AI/CL/LG's note
The system infers a task specification, action primitives, and an interactive verification environment from the demonstration. Its programs are object-centric and relational, aiming to reuse the demonstrated strategy across new poses, shapes, materials, and settings. The authors report simulation tests on eight contact-rich nonprehensile manipulation tasks and LIBERO-Pro prehensile tasks, plus real-world deployment on a Franka arm for all eight nonprehensile tasks. ArXiv · AI/CL/LG's note
score 5