Training for unified neural motion control in robotics systems and applications

At least one processor comprising:

• processing circuitry to perform operations comprising:
• applying a plurality of masks to a plurality of goal state attributes associated with a plurality of command spaces for an articulated object to produce one or more masked goal state attributes;
• generating, via execution of a machine learning model, one or more actions based at least on the one or more masked goal state attributes and a proprioception associated with the articulated object;
• and
• updating one or more parameters of the machine learning model based at least on the one or more actions and one or more reference actions for the articulated object to produce a trained machine learning model.