{
  "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.",
  "assignees": [
    "GDM HOLDING LLC"
  ],
  "authors": [
    "ABEYRUWAN SAMINDA WISHWAJITH",
    "AMOR HENI BEN",
    "D'AMBROSIO DAVID B",
    "GRAESSER LAURA HARDING",
    "ISCEN ATIL",
    "SANKETI PANNAG R"
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  "published_at": "2026-09-15T19:08:31.161580Z",
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  "source_date": "2026-03-18",
  "source_id": "EP-4711097-A1",
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  "supersedes": null,
  "title": "Robot learning through retrieval and self improvement",
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}