Generating simulation code from images

One or more non-transitory computer-readable media storing instructions that, when executed by at least one processor, cause the at least one processor to perform the steps of:

• generating first program code that simulates an environment in which a robot can perform a task and second program code that includes one or more tests;
• determining, using a first trained machine learning model, that one or more errors during execution of the first program code and the second program code are caused by at least one of the first program code or the second program code;
• and
• updating the at least one of the first program code or the second program code based on the one or more errors to generate at least one of updated first program code or updated second program code.

A system, comprising:

• a memory storing instructions;
• and
• one or more processors, that when executing the instructions, are configured to perform the steps of:
• generating first program code that simulates an environment in which a robot can perform a task and second program code that includes one or more tests,
• determining, using a first trained machine learning model, that one or more errors during execution of the first program code and the second program code are caused by at least one of the first program code or the second program code, and
• updating the at least one of the first program code or the second program code based on the one or more errors to generate at least one of updated first program code or updated second program code.