1. A processor-implemented method of learning arbitration for two physical 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 given training trial of a plurality of trials: receiving a control signal configured to indicate a simultaneous execution of two physical tasks by the robot; selecting one of the two physical tasks; evaluating an error measure determined based on a target physical task and an execution of the selected one of the two physical tasks by the robot, the two physical tasks comprising a first physical task and a second physical task; based on the error measure being within a target range from a previous error measure obtained during a previous training trial of the plurality of trials and prior to the given training trial, receiving a reinforcement signal comprising information associated with the target physical task, and associating the target physical task to the selected one of the two physical tasks; and during a subsequent training trial of a plurality of trials: based on the reinforcement signal, determining an association between a sensory context and the target physical task, and when the association is determined, executing the target physical task via the robot based on (1) an occurrence of the sensory context after the given training trial during the subsequent training trial of the plurality of trials, and (2) an absence of receiving the reinforcement signal during the subsequent training trial.