  Some actions must be executed in different ways depending on the context. For
example, wiping away marker requires vigorous force while wiping away almonds
requires more gentle force. In this paper we provide a model where an agent
learns which manner of action execution to use in which context, drawing on
evidence from trial and error and verbal corrections when it makes a mistake
(e.g., ``no, gently''). The learner starts out with a domain model that lacks
the concepts denoted by the words in the teacher's feedback; both the words
describing the context (e.g., marker) and the adverbs like ``gently''. We show
that through the the semantics of coherence, our agent can perform the symbol
grounding that's necessary for exploiting the teacher's feedback so as to solve
its domain-level planning problem: to perform its actions in the current
context in the right way.
