1. A non-transitory machine-readable storage medium having instructions embodied thereon, the instructions being executable by one or more processors to effectuate training of a learning component configured to operate a robotic apparatus, the instructions configured to, when executed cause the one or more processors to: provide a first control output, the first control output configured to cause the robotic apparatus to execute a first physical action; receive a feature occurrence information comprising feedback via a sensor of the robotic apparatus; cause production of a predicted output comprising a first vector from the learning component based on an occurrence of a feature in the received feature occurrence information, the predicted output configured to automatically cause the robotic apparatus to execute a second physical action based on one or more components of the first vector which is selected from a first range of values between a first value and a second value; produce a training input indicative of a target physical action, the training input comprises one or more components of a second vector selected from a second range of values between a third and fourth value; cause a combination of the training input and the predicted output via a combiner to produce a second control output comprising a third vector, the second control output configured to maintain execution of the first physical action by the robotic apparatus or execute the second physical action based on an analysis of one or more components of the third vector which is selected from a third range of values between the first value and the second value; provide the second control output to the learning component; and adapt the learning component in accordance with a discrepancy measure between the second control output and the predicted output; wherein the adaptation of the learning configuration is configured to cause the learning component to produce the second control output upon the occurrence of the feature during execution of the first action.