A method implemented by one or more processors, comprising: applying sensor data as input to a current neural network model for a robot, the sensor data generated based on one or more sensors of the robot; generating output over the current neural network model based on the sensor data; determining, based on the generated output, one or more parameters for a robot action directed toward an object in an environment of the robot, wherein the one or more parameters indicate a classification of the object; initiating performance of the robot action, wherein the performance is based on the one or more parameters for the robot action, and based on one or more additional parameters that are determined using one or more additional neural network models, for the robot, that are different from the current neural network model; receiving, during or after performance of the robot action by the robot, user interface input that corrects the robot action, wherein the user interface input indicates a different classification of the object that conflicts with the classification indicated by the determined one or more parameters; in response to receiving the user interface input that corrects the robot action: generating a correction instance that includes: multiple instances of sensor data that are related to the robot action; correction information that is based on the user interface input, and transmitting the correction instance to one or more remote computing devices via a network interface; receiving, from the one or more remote computing devices and subsequent to transmitting the correction instance, a revised version of the current neural network model, wherein the revised version of the current neural network model is trained based on: the correction instance, and additional correction instances from additional robots; and in response to receiving the revised version of the current neural network model, using the revised version of the current neural network model in lieu of the current neural network model in determining further parameters for an additional robot action of the robot. applying sensor data as input to a current neural network model for a robot, the sensor data generated based on one or more sensors of the robot; generating output over the current neural network model based on the sensor data; determining, based on the generated output, one or more parameters for a robot action directed toward an object in an environment of the robot, wherein the one or more parameters indicate a classification of the object; initiating performance of the robot action, wherein the performance is based on the one or more parameters for the robot action, and based on one or more additional parameters that are determined using one or more additional neural network models, for the robot, that are different from the current neural network model; receiving, during or after performance of the robot action by the robot, user interface input that corrects the robot action, wherein the user interface input indicates a different classification of the object that conflicts with the classification indicated by the determined one or more parameters; in response to receiving the user interface input that corrects the robot action: generating a correction instance that includes: multiple instances of sensor data that are related to the robot action; correction information that is based on the user interface input, and transmitting the correction instance to one or more remote computing devices via a network interface; generating a correction instance that includes: multiple instances of sensor data that are related to the robot action; correction information that is based on the user interface input, and multiple instances of sensor data that are related to the robot action; correction information that is based on the user interface input, and transmitting the correction instance to one or more remote computing devices via a network interface; receiving, from the one or more remote computing devices and subsequent to transmitting the correction instance, a revised version of the current neural network model, wherein the revised version of the current neural network model is trained based on: the correction instance, and additional correction instances from additional robots; and the correction instance, and additional correction instances from additional robots; and in response to receiving the revised version of the current neural network model, using the revised version of the current neural network model in lieu of the current neural network model in determining further parameters for an additional robot action of the robot.