1. A robot comprising: at least one actuator; a control system configured to control the at least one actuator; memory hardware configured to contain instructions; and a processor configured to execute the instructions to perform operations, the operations comprising: obtaining a task-level goal for a robot associated with one or more sub-goals, wherein carrying out an operation in pursuance of a given sub-goal involves controlling at least one actuator of the robot, and wherein accomplishment of the one or more sub goals accomplishes the task-level goal; receiving at least one sensor signal indicative of an environment proximate to the robot; determining, by the processor, one or more parameters indicative of a state of a system that includes the robot and the environment proximate to the robot; selecting, from among the one or more sub-goals, a particular sub-goal based on at least one of the one or more parameters; determining one or more controllers based on the selected sub-goal, wherein each sub-goal is associated with a corresponding set of one or more controllers; selecting, from among the determined one or more controllers, at least one controller based on at least one of the one or more parameters and the selected sub-goal; and causing the control system to operate in accordance with the selected controller.