1. A method for performing robot actions by a robot, the method comprising: defining a policy comprising a plurality of parameters for determining robot actions based at least in part on sensory-data inputs, the defining of the policy comprising mapping the sensory-data inputs to robot actions; receiving a first sensory-data input from a sensor; performing a first robot action at a first action time, wherein the first robot action is determined based at least in part on the first sensory-data input and application of the policy; determining that a user input was received at an input time corresponding to the first action time, wherein a corrective command at least partially derived from the user input specifies a corrective robot action for physical performance, the user input being indicative of at least partial dissatisfaction with the first robot action; and modifying the policy based on the corrective command and the first sensory-data input.