1. A system for autonomous robotic manipulation, the system comprising: one or more processors and a memory, the memory having executable instructions encoded thereon, such that upon execution of the instructions, the one or more processors perform operations of: learning one or more movement primitives by recording both movement and force applications from human demonstration of a robot end effector, each movement primitive being a path command; converting the movement primitive representing both movement and force applications into a differential equation; receiving a selected task from a task file library, the selected task being associated with causing the robot end effector to perform an action with a particular item; transforming the selected task into a state machine; and executing the state machine and, in doing so, causing the robot end effector to perform the selected task.