1. A computerized method of training a robotic apparatus comprising: performing a physical training action in a context determined from at least one or more inputs from one or more sensors, the physical training action performed based on at least a training instruction provided by a user; performing a first physical action in the context, the first physical action comprising a movement of the robotic apparatus along a first trajectory, the first physical action being determined by at least a user instruction and a first controller instruction indicative at least in part of a first predicted physical action determined from at least the context and the physical training action; receiving a corrective input signal based on the performed first physical action; and performing a second physical action in the context based on the corrective input signal, the second physical action comprising a movement of the robotic apparatus along a second trajectory, the second physical action further being determined by at least a second controller instruction generated from at least the first physical action, the physical training action, and a second predicted physical action determined from at least the context, wherein a deviation between performance measures of the second physical action and the physical training action is less than a deviation between performance measures of the first physical action and the physical training action.