3. The method of claim 1 , wherein the modifying of the policy further comprises using a learning model.
3. The method of claim 1 , wherein the modifying of the policy further comprises using a learning model. 6. The method of claim 3 , wherein the learning model includes updating parameters based on a gradient of error determined at least in part by a difference between the first robot action and a second robot action specified by a combination of the corrective command and the policy.