Are those approaches mutually incompatible? It seems to me that it would be easier to build a system which can drive fast when what it's seeing matches what it'

Are those approaches mutually incompatible? It seems to me that it would be easier to build a system which can drive fast when what it's seeing matches what it's expecting to see (most of the time), and which falls back to a much more conservative stance in the case of surprisal (i.e. expectation not matching observation).