1. A method of training a computerized robotic apparatus having motorized operational elements to perform a target action based on a sensory context, the training being effectuated via a plurality of iterations, the method comprising: during a first portion of the plurality of iterations: causing the apparatus to perform a first action based on a first control signal generated based on a sensory context and a target action indication provided by a user; and causing the apparatus to adjust a controller learning parameter based on a first performance value determined based on the first action and the target action; and during a second portion of the plurality of iterations, the second portion being subsequent to the first portion: causing the apparatus to generate an action signal based on the sensory context and the adjusted controller learning parameter, the action signal generation occurring prior to a subsequent provision of the target action indication associated with a subsequent iteration; and causing the apparatus to perform a second action based on a second control signal generated based on the sensory context and the action signal but absent the provision of the target action indication by the user; and wherein: the action performance based on the second control signal is characterized by a second performance value, where the second performance value is improved compared to the first performance value; where the subsequent provision of the target action indication by the user during the subsequent iteration of the plurality of iterations is configured to cause execution of another action characterized by a third performance value; the third performance value is lower than the second performance value; where the target action, the first action, the second action, and the another action, each comprise rotating of the motorized operational elements of the computerized robotic apparatus; and where the first, second, and third performance are determined based at least in part on the sensory context.