A drill bit subsystem can include a drill bit, a processor, and a non-transitory computer-readable medium for storing instructions and for being positioned downhole with the drill bit. The instructions of the non-transitory computer-readable medium can include a machine-teachable module and a control module that are executable by the processor. The machine-teachable module can receive depth data and rate of drill bit penetration from one or more sensors in a drilling operation, and determine an estimated lithology of a formation at which the drill bit subsystem is located. The control module can use the estimated lithology to determine an updated location of the drill bit subsystem, and control a direction of the drill bit using the updated location and a drill plan.