1. A processor-implemented method of learning arbitration for two tasks by a controller of a robot, the method being performed by one or more processors configured to execute computer program modules, the method comprising: during a first training trial of a plurality of trials: evaluating, using one or more processors, a first performance associated with contemporaneous execution of the two tasks by the robot, the two tasks including a first task and a second task; based on the first performance being within a range from a second performance obtained during a second training trial of the plurality of trials and prior to the first training trial, receiving a teaching signal conveying information associated with a target task, the target task being one of the two tasks; and based on the teaching signal, determining an association between the context and the target task, the association being configured to cause the robot to execute the target task based on (1) an occurrence of the context after the first training trial during a third training trial of the plurality of trials, and (2) an absence of receiving the teaching signal during the third training trial.