accessing a natural-language input regarding a task to be executed by the robotic system;

determining a semantic meaning of the natural-language input to identify, from the natural-language input, (1) the task and (2) one or more objects for the robotic system to use to complete the task;

generating, for the task to be executed by the robotic system, a trajectory plan to complete the task by selecting a predetermined, parameterized trajectory based on the identified task, wherein the parameterized trajectory comprises at least one group of waypoints for which modifications apply collectively to the waypoints in the group, and wherein the parameterized trajectory is associated with one or more changeable trajectory parameters, each changeable trajectory parameter associated with a predetermined allowable value range;

identifying one or more objects in an environment of robotic system that correspond to the one or more objects identified from the natural-language input to use for completing the task;

identifying, for each of the one or more objects, an object type from a set of a plurality of predetermined object types, wherein each object type is distinct from a shape;

determining, for each of the one or more objects and based on the respective identified object type, one or more predetermined trajectory-influencing attributes of the respective identified object type, wherein the one or more predetermined trajectory-influencing attributes comprises one or more of an object size, an object shape, an object color, an object texture, and an object orientation;

determining, for each of the one or more objects, whether each of the changeable trajectory parameters corresponds to at least one determined trajectory-influencing attribute;

determining, for each of the one or more objects, a respective object-specific value for each of the one or more predetermined trajectory-influencing attributes;

determining, for each of the one or more objects, whether each object-specific value is within the predetermined allowable value range associated with the corresponding changeable trajectory parameter;

in response to a determination that (1) each changeable trajectory parameter corresponds to at least one determined trajectory-influencing attribute and (2) each object-specific value is within the predetermined allowable value range associated with the corresponding changeable trajectory parameter, then updating the trajectory plan by applying the same transformation to each waypoint of one or more of the at least one group of waypoints of the selected predetermined, parameterized trajectory, wherein the transformation is based on the object-specific values for the one or more predetermined trajectory-influencing attributes; and

executing the task based on the updated trajectory plan.