Reduced degree of freedom robotic controller apparatus and methods

A method of training an adaptive controller apparatus of a robot, the robot comprising first and second degrees of freedom, the method comprising:

• during a first operational iteration:
• causing the apparatus to produce a first control signal based at least on a context and a first training input, the first control signal being configured to operate the first degree of freedom to execute a first action;
• and;
• causing the apparatus to adjust a learning parameter based at least on a first performance relating to the first action and a target action;
• and
• during a subsequent iteration:
• causing the apparatus to produce a second control signal based at least on the context and a second training input, the second control signal being configured to operate the second degree of freedom;
• and
• causing the apparatus to produce a third control signal based at least on the context and the adjusted learning parameter, the third control signal being configured to operate the first degree of freedom;
• wherein the second and the third control signals cooperate to cause execution of the target action.

A robotic apparatus comprising:

• a platform characterized by at least first and second degrees of freedom;
• and
• an adaptive controller apparatus configured to generate first and a second control signals adapted to operate the first and the second degrees of freedom, respectively;
• wherein:
• the first and the second control signals are configured to cause the platform to perform a target action;
• and
• the operation of a given one of the first or the second degrees of freedom is configured based at least on a training input associated with the given degree of freedom.