is there any further information on how she was trained and whether it used a reward for reaching objectives like teaching Kanzi (a bonobo) to play Minecraft? d

is there any further information on how she was trained and whether it used a reward for reaching objectives like teaching Kanzi (a bonobo) to play Minecraft? did a human demonstrate the controls or was there a simulation before the actual vehicle? or a hardcoded speed limit that was slowly raised?