1. A learning controller apparatus for operating a robotic body, the learning controller apparatus comprising: a processor configured to operate an adaptive learning process in order to execute a task, the adaptive learning process characterized by a plurality of trials; an interface configured to provide at least one actuation output to the robotic body, the at least one actuation output comprising a first and a second portion configured to effectuate movement of a first and a second controllable element of the robotic body, respectively; and a first actuator and a second actuator each in operable communication with the processor, the first and the second actuators configured to provide the first and the second portions of the at least one actuation output, respectively; wherein: the adaptive learning process is configured to determine, during a trial of the plurality of trials, the at least one actuation output, the at least one actuation output having a first trajectory associated therewith; and the learning process is further configured to determine, during a subsequent trial of the plurality of trials, another actuation output having a second trajectory associated therewith, the second trajectory being closer to a target trajectory of the task than the first trajectory.