1. A learning controller apparatus configured to operate a robotic body, the learning controller apparatus comprising: a processor configured to operate an adaptive learning process in order to execute a task, the adaptive learning process being characterized by a plurality of trials; an interface configured to provide at least one actuation output to the robotic body, the at least one actuation output comprising first and second portions configured to effectuate movement of a first and a second controllable element of the robotic body, respectively; and a first actuator and a second actuator each in operable communication with the processor, the first and the second actuators being configured to provide the first and the second portions of the at least one actuation output, respectively; wherein: the adaptive learning process is configured to determine, during a trial of the plurality of trials, the at least one actuation output, the at least one actuation output having a first trajectory associated therewith; the adaptive learning process is further configured to determine, during a subsequent trial of the plurality of trials, an other actuation output having a second trajectory associated therewith, the second trajectory being closer to a target trajectory of the task than the first trajectory; the interface comprises: a first interface portion comprising a shape; and a second interface portion particularly adapted to interface only with other interface portions comprising the shape; the first and second interface portions are mated together and are configured to animate the robotic body via at least a mechanical force transferred over the mated first and second interface portions; and where at least one electrical interface is configured to transfer electrical signals or power across the mated first and second interface portions, and the shape comprises a substantially male feature.