RAPID reconstructs an interactive simulation environment from a demonstration and infers three components needed for agentic code refinement: a testable task specification, robot action primitives and a program that composes those primitives.
One demonstration can bootstrap reusable robot manipulation programs
RAPID infers task goals, action primitives and a verification environment from a visual demonstration, then iteratively refines executable robot code.
Big Tech
Yuyao Liu · Jiayuan Mao · David Hsu · Leslie Pack Kaelbling · Tomás Lozano-Pérez
Massachusetts Institute of Technology · National University of Singapore · University of Pennsylvania · NVIDIA
Research Digest··2 min read
Liu et al.
Why this paper
From NVIDIA and 3 others
In one line
RAPID automatically generates, verifies, and refines robot programs from a single visual demonstration, generalizing across object and scene variations using object-centric relational representations.
What we could check
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