1. A method of generating a predicted control output by an adaptive controller of a robotic apparatus comprising a predictor and a combiner, the method comprising: operating the adaptive controller in accordance with a reinforcement learning process based on a reinforcement signal, the reinforcement signal being based on a performance measure associated with the reinforcement learning process; operating the predictor in accordance with a supervised learning process based on a teaching signal, the teaching signal conveying information related to a target output of the predictor; generating a control output via the adaptive controller based on a sensory input and the reinforcement signal, the sensory input including information associated with an environment of the robotic apparatus; determining a predicted control output via the predictor based on the sensory input and the teaching signal; determining a combined output via the combiner based on the control output and the predicted control output, the combined output being characterized by a transform function; and providing the combined output via the adaptive controller to the robotic apparatus, the combined output causing the robotic apparatus to execute a maneuver in accordance with the sensory input; wherein the teaching signal comprises the combined control output.