16. A non-transitory computer readable medium comprising a plurality of instruction which, when executed by one or more processors, effectuate control of a robotic apparatus by: based on a context, determine a first control signal configured to transition the robotic apparatus to a first state; determine a discrepancy between a current trajectory associated with a current state, and a first trajectory associated with the first state, where the discrepancy between the trajectories comprises a measurable difference; and determine a second control signal based on the discrepancy, the second control signal configured to transition the robotic apparatus to the current state.
16. A non-transitory computer readable medium comprising a plurality of instruction which, when executed by one or more processors, effectuate control of a robotic apparatus by: based on a context, determine a first control signal configured to transition the robotic apparatus to a first state; determine a discrepancy between a current trajectory associated with a current state, and a first trajectory associated with the first state, where the discrepancy between the trajectories comprises a measurable difference; and determine a second control signal based on the discrepancy, the second control signal configured to transition the robotic apparatus to the current state. 17. The non-transitory computer readable medium of claim 16 , wherein the determination of the first control signal and the determination of the second control signal are configured in accordance with a learning process.