The following procedures paper trained a 6 wk puppy in a couple of hours, an ex-stray, and several other dogs.
The philosophy behind the training, (post hoc) is that dogs are human symbiotes per Jon Franklin's
The Wolf in the Parlor and are eager to learn to help. I learned it from a bird dog trainer who insisted that his dog was his partner and not his servant or toy. For him dominance and control techniques were useless as they produced a dog that wouldn't hunt. Note that his dogs were collar free while hunting and most other times. He carried the tags.
Any dog even a difficult dog will do something right in a training session, short at first. The first command I train is WAIT. When the dog stops at any time after the command a unique and instant verbal reward is given. I use "Gooddog" a friend uses Hai-Hai. This will surprise the dog and in my experience even the first time the dog will look back and get another instant Gooddog. As the dog continues to play the command and verbal reward are quickly associated in the dog's mind.
After the training session is over a special self selected treat, in my dog's case a turkey hot dog bit is offered when the dog is called, asked to WAIT just before arriving, gets the Gooddog, looks up, another Gooddog, then the treat. Note that the treat is offered after the training session. After a session or two more, the dog will follow to where the treats are kept and look for the treat. In my case I keep the treats at my desk upstairs away from his food and play areas. Training treats are special.
I escalate the WAIT training until the dog stops in his tracks whatever he is doing even chasing the neighborhood cat. The first escalation is a slack leash WAIT. No training harness, choke collar or other negative reinforcement needed.
HEEL, PARK, STAY, and other useful commands are taught the same way. Tell the dog to HEEL in command voice, and sooner or later he will end up at your side get the Gooddog look up and get another Gooddog. It doesn't take long before the later becomes now. At that point I end the session, and finish the walk. I was not surprised when we got home and he HEELed all the way to my desk for his special treat. He also got one for WAIT which is reinforced every walk at curbs and other danger spots and the neighborhood cat. Note that every walk is a training session and good behavior of any kind even ignoring the neighborhood cat gets a Gooddog and if he looks up another Gooddog. It is amusing that he seems to count things on a walk that get reinforced and remind me that he needs another treat if I forget one. Usually ignoring the cat that I didn't notice.
Like most dogs he will announce the fact that someone is on the property, and since we have frequent visitors, the PARK command is his signal to stop barking, and back away from the door. He gets a Gooddog for barking, another for parking, and a third for being welcoming to a known visitor. By now it is routine and he waits until the end of the day to remind me that he has been a Gooddog many times.
I use OK as the release command but if I were starting over I would choose a different word probably CLEAR as an unusual word that he does not hear every day. It may be a moot point since he seems to respond to my mental state of clear at curbs. I began to notice after reading Franklin that he was always a fraction of a second ahead of the OK. I began to delay the verbal command and found that I was catching up to his reaction for most commands including WAIT.
This post like all on this blog is a work in progress, and comments are open. Suggestions and stories are welcome.