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A little out of topic question, but I'm curious is it possible to program Raspberry Pi on low level without OS, just like Arduino and if not, why?

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You can program anything without an OS.

Here's an article on writing C targeting bare-metal Raspberry Pi.

http://www.valvers.com/open-software/raspberry-pi/step01-bar...

You can and people do but it’s important to note that that the raspberry pi CPU is a tiny part of the SOC and the Broadcom proprietary part that bootstraps it is completely closed.

What exactly is the "Broadcom proprietary part"?

Wouldn't that be the GPU (VideoCore IV/VI)?

It seems that it would. https://en.wikipedia.org/wiki/VideoCore

It's been reverse engineered and some minimal firmware for the VideoCore part was made: https://github.com/christinaa/rpi-open-firmware

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