1. A method of operating a robot comprising: determining a first control signal associated with an environmental context of the robot; causing, based at least in part on the determined first control signal, the robot to perform a task characterized by a target trajectory; and responsive to observing a discrepancy between an actual trajectory and the target trajectory, adjusting the actual trajectory based at least in part on a physical contact by an operator with the robot, wherein adjusting of the actual trajectory comprises determining a second control signal configured to cooperate with the first control signal to cause the robot to transition the actual trajectory towards the target trajectory in a subsequent performance of the task in the environmental context.