1. An apparatus for controlling a robot, the apparatus comprising: a sensor interface configured to receive a first representation of an object associated with an environment of the robot; a predictor component configured to determine a first control output, the first control output being configured to cause the robot to execute a task in accordance with the first representation of the object; an input interface configured to receive a teaching input associated with a second representation of the object, the teaching input being configured to convey information related to a target trajectory associated with execution of the task by the robot; an evaluation component configured to provide a second control output based on an evaluation of the first control output and the teaching input; a learning predictor component configured to determine a third control output, the third control output being determined based on analysis of the first representation of the object and the second control output; and a combiner configured to combine the first control output and the third control output to produce a fourth control output, the fourth control output being configured to cause the robot to execute the task in accordance with the first representation of the object; wherein: execution of the task based on the fourth control output produces a first trajectory that is closer to the target trajectory compared to a second trajectory associated with execution of the task based on the first control output.