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Neural networks are being increasingly applied to control and decision making for learning-enabled cyber-physical systems (LE-CPSs). They have shown promising performance without requiring the development of complex physical models; however, their adoption is significantly hindered by the concerns on their safety, robustness, and efficiency. In this work, we propose COCKTAIL, a novel design framework that automatically learns a neural network based controller from multiple existing control methods (experts) that could be either model-based or neural network based. In particular, COCKTAIL first performs reinforcement learning to learn an optimal system-level adaptive mixing strategy that incorporates the underlying experts with dynamically-assigned weights, and then conducts a teacher-student distillation with probabilistic adversarial training and regularization to synthesize a student neural network …