After implementing a metareasoning approach, the next step is to determine the specifics of the metareasoning policy that will improve robot performance and reliability. The metareasoning policy controls the object level reasoning (by selecting an algorithm or adjusting a parameter value, for instance). This chapter describes a systematic, data-driven approach for determining the metareasoning policy and some case studies to illustrate the process. Although machine learning techniques have been employed to determine metareasoning policies, using engineering judgment, based on empirical results, is an appropriate technique as well.