1. A controller apparatus of a robot, comprising: one or more processors configured to execute computer program modules, the computer program modules comprising: a first predictor module operable in accordance with a first learning process configured to provide a first and a second predicted action indication configured based on a context, the first predicted action indication being configured to cause the robot to execute a first action, the second predicted action indication being configured to cause the robot to execute a second action; a second predictor module operable in accordance with a second learning process configured to provide a predicted control output configured based on the context and an input signal, the predicted control output being configured to cause the robot to execute one of the first action or the second action; and an arbitrator module configured to provide one of the first and the second predicted action indication as the input signal to the second predictor module; wherein, based on a determination by the arbitrator module that there is no conflict between the first action and the second action, execute the first action and the second action contemporaneously.