Apparatus and methods for training of robotic control arbitration

A computerized system for learning task arbitration by a robot, the system comprising:

• an interface configured to detect a reinforcement signal;
• a processing component;
• and
• a non-transitory memory configured to store a plurality of computer instructions that when executed by the processing component, are configured to cause the computerized system to:
• during a given training trial of a plurality of training trials:
• receive a control signal configured to indicate a simultaneous execution of two physical tasks by the robot;
• select one task of the two physical tasks based on a selection signal associated with the selected one task;
• determine an error measure based on a target physical task and an execution of the selected one task 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 desired range from a previous error measure obtained during another training trial of the plurality of training trials and prior to the given training trial, evaluate the reinforcement signal comprising information associated with the target physical task, the target physical task being associated with one of the two physical tasks;
• and
• responsive to the evaluation of the reinforcement signal, determine an association between a sensory context and the target physical task, and execute the target physical task via the robot based on (1) an occurrence of the sensory context after the given training trial during a subsequent training trial of the plurality of training trials, (2) an absence of a receipt of the reinforcement signal during the subsequent training trial, and (3) the determined association.