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 a 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 a robot to execute one of the first action or the second action; and an arbitrator module configured to provide one of the first or the second action indication as the input signal to the second predictor module.