A method comprising: determining task information of a path-based task to be performed by an end-effector of a robotic device on an object, wherein the task information comprises (i) at least one task parameter, and (ii) a nominal representation of the object; based on the task information, determining one or more parametric instructions for the end-effector to perform the task, wherein the one or more parametric instructions indicate a toolpath for the end-effector to follow when performing the path-based task; generating, based on sensor data, an observed representation of the object; identifying one or more deviations between the observed representation of the object and the nominal representation of the object; based at least on the one or more deviations, updating the one or more parametric instructions to provide for performance of the path-based task; mapping the updated one or more parametric instructions to the observed representation of the object; and sending the mapped parametric instructions to the end-effector to cause the robotic device to perform the path-based task, wherein the one or more parametric instructions further indicate one or more values for one or more control parameters controlling action of the end-effector as the end-effector moves along the toolpath, the one or more control parameters being updated based on the one or more deviations when the one or more parametric instructions are updated; and wherein the path-based task is a sanding task, wherein the end-effector comprises a sander, and wherein the task parameter comprises a desired surface finish, and further comprising: determining material property information indicative of a type of material of the object; and determining, based on the material property information and the task parameter, (i) a speed of motion of the end-effector while moving along the toolpath, and (ii) pressures to be exerted by the end-effector. determining task information of a path-based task to be performed by an end-effector of a robotic device on an object, wherein the task information comprises (i) at least one task parameter, and (ii) a nominal representation of the object; based on the task information, determining one or more parametric instructions for the end-effector to perform the task, wherein the one or more parametric instructions indicate a toolpath for the end-effector to follow when performing the path-based task; generating, based on sensor data, an observed representation of the object; identifying one or more deviations between the observed representation of the object and the nominal representation of the object; based at least on the one or more deviations, updating the one or more parametric instructions to provide for performance of the path-based task; mapping the updated one or more parametric instructions to the observed representation of the object; and sending the mapped parametric instructions to the end-effector to cause the robotic device to perform the path-based task, wherein the one or more parametric instructions further indicate one or more values for one or more control parameters controlling action of the end-effector as the end-effector moves along the toolpath, the one or more control parameters being updated based on the one or more deviations when the one or more parametric instructions are updated; and wherein the path-based task is a sanding task, wherein the end-effector comprises a sander, and wherein the task parameter comprises a desired surface finish, and further comprising: determining material property information indicative of a type of material of the object; and determining, based on the material property information and the task parameter, (i) a speed of motion of the end-effector while moving along the toolpath, and (ii) pressures to be exerted by the end-effector. determining material property information indicative of a type of material of the object; and determining, based on the material property information and the task parameter, (i) a speed of motion of the end-effector while moving along the toolpath, and (ii) pressures to be exerted by the end-effector.