providing a robotic cell system having elements comprising: one or more cameras, one or more sensors, components, and a robotic arm;

localizing positions of the one or more cameras and components relative to a position of the robotic arm within the robotic cell using a common coordinate frame;

moving the robotic arm in a movement pattern under a first load, and using the cameras and sensors to determine robotic arm position at multiple times during the movement;

moving the robotic arm in the movement pattern under a second load and using the cameras and sensors to determine the robotic arm position at multiple times during the movement;

identifying a discrepancy in robotic arm position between a predicted position in the movement pattern and the determined robotic arm position in real time, for the first load and the second load;

computing, by an auto-calibrator, a compensation for the identified discrepancy, the auto-calibrator solving for the elements in the robotic cell system as a system; and

modifying actions of the robotic arm in real time during the movement based on the compensation to reduce the identified discrepancy in the robotic arm position.