Various technologies described herein pertain to generating control inputs for a cyber-physical system. A prediction concerning a phenomenon can be generated, utilizing a classifier, based on sensor data acquired by a sensor. The prediction can include a probability distribution over a set of possible values of the phenomenon, where the phenomenon pertains to the cyber-physical system or an environment in which the cyber-physical system operates. Control inputs for the cyber-physical system that satisfy constraints that maintain safe operation of the cyber-physical system in the environment can be synthesized. The constraints can be based on the prediction that includes the probability distribution over the set of possible values of the phenomenon. Further, the cyber-physical system can be caused to operate in the environment based on the control inputs.