1. A method of predicting a plant control output by an adaptive computerized predictor apparatus, the method comprising: configuring the adaptive computerized predictor apparatus, using one or more processors, to operate in accordance with a learning process based on a teaching input; at a first time instance, based on a sensory context, causing the adaptive computerized predictor apparatus to generate a first predicted plant control output; configuring the adaptive computerized predictor apparatus, using the one or more processors, to provide the first predicted plant control output as the teaching input into the learning process; at a second time instance subsequent to the first time instance, causing the adaptive computerized predictor apparatus to generate a second predicted plant control output based on the sensory context and the teaching input; adjusting the learning process based on a difference between the second predicted plant control output and the teaching input; and causing a plant to perform an action consistent with the sensory context and the adjusted learning process, the action being in accordance with a defined target trajectory; wherein the teaching input comprises the first predicted plant control output.