Fuente: WIPO "tomato" Various implementations include processing an instance of image data using a reinforcement learning policy model to generate illumination output, where the illumination output indicates one or more lights of an agricultural robot or modular sensor package to adjust based on uneven illumination in the instance of image data. In many implementations, the initial instance of image data is captured using one or more sensors of an agricultural robot or modular sensor package, where the initial instance of image data captures one or more crops in a portion of a plot of land. In various implementations, the agricultural robot or modular sensor package can adjust one or more lights based on the illumination output, and can capture an updated instance of image data of the given one or more crops with the updated illumination.