17. A computer-program product tangibly embodied in a non-transitory machine-readable storage medium, including instructions configured to cause one or more data processors to: identify a first context-variable value for a context variable detected by a robot at a first sensory-detection time; access a policy comprising one or more parameters configured to map the context variable to a robot action variable; determine that a first robot action characterized by a first value of the robot action variable was performed at an action time in response to detection of the first context-variable value, the first robot action being in accordance with application of the policy; determine that a user input was received at an input time corresponding to the action time, wherein user input data derived from the user input at least partly defines a corrective command that specifies a corrective robot action for physical performance, the user input being indicative of at least partial dissatisfaction with the first robot action; modify the policy based on the corrective command and the first context-variable value; and cause the modified policy to be used to: determine a second robot action characterized by a second value of the robot action variable based on a second context-variable value for the context variable detected at a second sensory-detection time; and initiate performance of the second robot action in accordance with the second value of the robot action variable; wherein the second value of the robot action variable comprises a combination of the first robot action and the corrective action defined by the user input data, the combination being configured to result in a desired robot action.
17. A computer-program product tangibly embodied in a non-transitory machine-readable storage medium, including instructions configured to cause one or more data processors to: identify a first context-variable value for a context variable detected by a robot at a first sensory-detection time; access a policy comprising one or more parameters configured to map the context variable to a robot action variable; determine that a first robot action characterized by a first value of the robot action variable was performed at an action time in response to detection of the first context-variable value, the first robot action being in accordance with application of the policy; determine that a user input was received at an input time corresponding to the action time, wherein user input data derived from the user input at least partly defines a corrective command that specifies a corrective robot action for physical performance, the user input being indicative of at least partial dissatisfaction with the first robot action; modify the policy based on the corrective command and the first context-variable value; and cause the modified policy to be used to: determine a second robot action characterized by a second value of the robot action variable based on a second context-variable value for the context variable detected at a second sensory-detection time; and initiate performance of the second robot action in accordance with the second value of the robot action variable; wherein the second value of the robot action variable comprises a combination of the first robot action and the corrective action defined by the user input data, the combination being configured to result in a desired robot action. 18. The computer-program product of claim 17 , wherein the instructions are further configured to cause the one or more data processors to: identify a third context-variable value for the context variable, the third context-variable value being detected at a third sensory-detection time that is after the second sensory-detection time; determine that the robot performed a third action in response to the third context-variable value, the third action being in accordance with application of the accessed policy; and infer that the third action was satisfactory based on a lack of input data at least partly defining a corrective command corresponding to the third action; wherein the modification of the policy is further based on the third context-variable value.