1. A robotic system comprising: at least one actuator; a memory configured to contain instructions; and a processor configured to execute the instructions to perform operations, the operations comprising: determining an external environment state from information indicative of at least one aspect of an environment proximate to the robotic system; determining a plurality of possible task groups to be carried out by the robotic system in pursuance of a task-oriented goal, wherein each possible task group comprises at least one task involving actuation of the at least one actuator; determining, for each possible task group, a respective task group score based on: an expected performance capability when carrying out the at least one task involving the at least one actuator, wherein the expected performance capability is based on the external environment state and an attribute of the at least one actuator, the attribute of the at least one actuator comprising at least one of a strength of the at least one actuator, a range of motion of the at least one actuator, or an accuracy of the at least one actuator; a speed factor comprising an execution duration of the possible task group; and a cost factor comprising at least one of an energy cost associated with the robotic system carrying out the possible task group; selecting a task group from the plurality of possible task groups based on the plurality of task group scores; and causing the robotic system to carry out the selected task group.