Apparatus and methods for arbitration of control signals for robotic devices. A robotic device
may comprise an adaptive controller comprising a plurality of predictors configured to
provide multiple predicted control signals based on one or more of the teaching input,
sensory input, and/or perfor mance. The predicted control signals may be configured to
cause two or more actions that may be in conflict with one another and/or utilize a shared
resource. An arbitrator may be employed to select one of the actions. The selection process …