---
publication_id: "OT-2026-000001714"
title: "Robot learning through retrieval and self improvement"
published_at: "2026-09-15T19:07:52.828211Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001714"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/163"
  - "b25j9/163"
  - "b25j9/163"
  - "b25j9/16"
  - "b25j9/1651"
  - "b25j9/1651"
---

# Robot learning through retrieval and self improvement

## Abstract

Implementations are provided for an interactive machine learning methodology that allows non-expert users to use natural language to teach new skills, particularly to robots, through language grounding and understanding. In various implementations, a plurality of natural language summaries may be retrieved. Each of the natural language summaries may describe details of robotic performance of a task, and may include, or be usable to retrieve, a corresponding set of reference modulation values. A set of modulation values corresponding to a natural language request may be generated based on the plurality of natural language summaries. The natural language request may specify one or more constraints on robotic performance of the task. A robot control signal may be generated based on the generated set of modulation values.