1. A method for operating a robot comprising: operating in a first mode in which the robot executes actions in accordance with a training input and associates a first sensory context of a plurality of sensory contexts with a first behavior of a plurality of behaviors, the plurality of sensory contexts detected by at least one of a plurality of sensors of the robot; configuring a predictor to receive the plurality of sensory contexts and to determine one or more of the plurality of behaviors of the robot based at least in part on detection of the plurality of sensory contexts, wherein the predictor outputs a control signal based at least in part on priorities assigned to each of the plurality of behaviors for each of the plurality of sensory contexts; and operating in a second mode in which the robot executes actions based at least in part on an association made while the robot operated in the first mode, wherein: the robot detects: (1) the first sensory context with a first sensor of the plurality of sensors, and (2) a second sensory context of the plurality of sensory contexts with a second sensor; and the robot performs the first behavior based at least in part on the control signal outputted by the predictor upon receiving the first sensory context and the second sensory context.