1. A method of operating a robotic controller apparatus, the method comprising: determining a current controller performance associated with performing a target task; determining a difficult portion of a target trajectory associated with the target task, the difficult portion characterized by an extent of a state space; and providing a training input for navigating the difficult portion, the training input configured to transition the current performance towards the target trajectory; wherein: the difficult portion of the target trajectory is determined based at least on the current performance being outside a range from the target trajectory; the state space is associated with performing of the target task by the controller; and performing by the controller of a portion of the target task outside the extent is configured based on autonomous controller operation.