Methods, apparatus, systems, and computer-readable media are provided for training a path of a robot within a graphical user interface (GUI) and/or by physically moving the robot. In particular, the technology generates a trained path for the robot based on waypoints defined by a user and generates one or more parameters for one or more movement characteristics of the robot along the trained path. The parameters for the movement characteristics are generated based on spatial proximity of a plurality of the waypoints that are defined by the user.