I learned a bit on my own time last year. Check back on this thread in a few days—I'm writing up a post detailing how I went about learning it with links to a whole bunch of resources. It'll probably be useful to you, so I'll post it as a reply to you here once it's done.

I don't know if you're still watching this thread, but as promised here's the article: http://kronopath.net/blog/impossible-to-learn/