I wouldn't bother much about the performance difference between XML and programmatically designed UI.
Basically the XML approach is always to be favored over the programmatical approach. XML designed UIs are easier to read and to understand, and since an UI is something visual, I would go as far as saying that readability is the key in the developement of an extensible AND maintainable UI.
Worst case scenario in readability for the programmatical approach would be when every element of your UI was designed in different files. Imagine an element that is designed in one file then added to the form in another file, with the form being also designed in another file. You would not know what's the deal and for a simple change like adding a button or a label or even just changing some text, you would have to go through a lot of code.
This means you would lose a lot of time in further developement of that UI and at some point it would not be maintainable at all(well you might be able to maintain it but imagine a big project with many developement teams involved, where more than just one person needs to understand the concept and the structure in order be able to keep the developement going)
Of course you can't always design your UI in XML. For example: If you have custom modular control elements which are more complex than just a display for a text and you want to display a dynamical amount of them, which depends on a result from a database query, then I guarantee you that you will have to add them programmatically to your form. ELSE you would have to add a fixed maximum amount of them to your form in the XML and then supply them with data and toggle their visibility in the code. Trust me you wouldn't want to do that ;) And now to answer your question: I say the XML approach is slower. With your XML having to hold the maximum amount of objects possible for display you will always have overhead of objects being loaded and maintained in the life cycle, which are not even used. Objects being generated dynamically, will cost less performance, since their amount varies and thus is not fixed.
EDIT: If you care much about the peformance of your UI, I recommend you to perform some studies on the lifecycle of the form and also control elements. The UI is created in phases and in this act certain events are fired. It can have a great impact on the performance if you decide to update the displayed information at a certain phase. I might have never developed anything for android, but having worked with actionscript and asp.net I learned that UI performance and the life cycle of display elements go hand in hand.
EDIT 2: Another great impact on performance has the location of the controls you use within their inheritance structure tree.
Take a look at this theoretical inheritance structure:
Object -> UI-Element -> Display-Element -> Image-Element
Lets say you have only one Image to display. In this case you can basically go with the Image-Element without even thinking. But if you have a lot images to display which also change in size, and maybe even location, then it might be a good idea to keep away from using the Image-Element and write a custom element which inherits lets say the UI-Element and fits your needs. The custom control element would be faster since it is closer to the root of the inheritance structure tree. Reason for this is generally speaking: each time you move further away from the root you gain functionality and more functionality comes at the cost of performance.