Provided are robots that autonomously detect and correct individualized anomalies resulting from deviations in the sensors and/or actuators of individual robots, and environmental anomalies resulting from deviations in the environment elements that the robots rely on or use in the execution of different tasks. To do so, a robot may receive a task, may determine expected kinematics that include expected activations of a set of sensors and actuators by which the robot executes the task, may activate the set of sensors and actuators according to the expected kinematics, may track the actual kinematics resulting from activating the set of sensors and actuators according to the expected kinematics and continuing the activations until detecting one or more environment elements signaling completion of the task, and may adjust one or more sensors, actuators, or environment elements in response to the actual kinematics deviating from the expected kinematics.