1. A method of operating a robotic device by a learning controller, the method comprising: during an operation of a plurality of operations: causing the robotic device to execute an action along a first trajectory in accordance with a first control signal determined based on a sensory input; determining, a performance measure based on an evaluation of the first trajectory and an indication related to a target trajectory provided by a trainer; conveying information related to the performance measure to the learning controller; and updating one or more learning parameters of the learning controller in accordance with the information; and during a subsequent operation of the plurality of operations: causing the robotic device to execute the action along a second trajectory in accordance with a second control signal determined based on the sensory input; wherein: the execution of the action along the second trajectory is characterized by a second performance measure; and the updating is configured to displace the second trajectory closer towards the target trajectory relative to the first trajectory.