A method for training a machine learning model for providing at least one substitute instruction signal, the method comprising:
- coupling the machine learning model to an outer controller and an inner controller communicating with each other such that the machine learning model receives instruction signals from the outer controller directed to the inner controller and report signals from the inner controller directed to the outer controller;
- extracting features for training the machine learning model from the report signals;
- extracting labels for training the machine learning model from the corresponding instruction signals;
- and
- using the extracted features and labels to train the machine learning model.