1. An adaptive controller apparatus comprising a plurality of computer readable instructions configured to, when executed, cause a performance of a target task by a robot, the computer readable instructions configured to cause the adaptive controller apparatus to: during a first training trial comprising at least one action and performed without at least one second action, determine a predicted signal configured in accordance with a sensory input, the predicted signal being configured to cause execution of an action associated with the target task, the execution of the action associated with the target task being characterized by a first performance; during a second training trial, based on a teaching input and the predicted signal, determine a combined signal of the at least one action and the at least one second action, the combined signal configured to cause the execution of the action associated with the target task, the execution of the action associated with the target task during the second training trial being characterized by a second performance; and adjust a learning parameter of the adaptive controller apparatus based on the first performance and the second performance, the adjustment of the learning parameter comprising one or more iterative adjustments of at least the first performance of the first training trial and the second performance of the second training trial in alternation until the learning parameter reaches a target threshold; wherein the performance of the target task comprises the execution of the action associated with the target task and the at least one second action contemporaneously.