18. The non-transitory computer-readable storage medium of claim 14 , wherein the modification of the policy comprises changing parameters relating sensory-data inputs to actuator responses that correspond to robot actions.
14. A non-transitory computer-readable storage medium having a plurality of instructions stored thereon, the instructions being executable by a processing apparatus to operate a robot, the instructions configured to, when executed by the processing apparatus, cause the processing apparatus to: define a policy comprising a plurality of parameters configured to determine robot actions based at least in part on sensory-data inputs, wherein the policy maps the sensory-data inputs to robot actions; receive a first sensory-data input; perform a first robot action at a first action time, wherein the first action is determined based at least in part on the first sensory-data input and application of the policy; determine 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 modify the policy based on the corrective command and the first sensory-data input.