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In this article we extend and strengthen the seminal work by Niyogi, Smale, and Weinberger on the learning of the homotopy type from a sample of an underlying space. In their work, Niyogi, Smale, and Weinberger studied samples of $C^2$ manifolds with positive reach embedded in $\mathbb{R}^d$. We extend their results in the following ways: In the first part of our paper we consider both manifolds of positive reach -- a more general setting than $C^2$ manifolds -- and sets of positive reach embedded in $\mathbb{R}^d$. The sample $P$ of such a set $\mathcal{S}$ does not have to lie directly on it. Instead, we assume that the two one-sided Hausdorff distances -- $\varepsilon$ and $δ$ -- between $P$ and $\mathcal{S}$ are bounded. We provide explicit bounds in terms of $\varepsilon$ and $ δ$, that guarantee that there exists a parameter $r$ such that the union of balls of radius $r$ centred at the sample $P$ deformation-retracts to $\mathcal{S}$. In the second part of our paper we study homotopy learning in a significantly more general setting -- we investigate sets of positive reach and submanifolds of positive reach embedded in a \emph{Riemannian manifold with bounded sectional curvature}. To this end we introduce a new version of the reach in the Riemannian setting inspired by the cut locus. Yet again, we provide tight bounds on $\varepsilon$ and $δ$ for both cases (submanifolds as well as sets of positive reach), exhibiting the tightness by an explicit construction.