5. The method of claim 1 , further comprising: encapsulating a tool movement primitive (TMP) in the information kernel, the TMP providing a tool motion associated with the tool type.
11. The method of claim 5 , wherein the type of task action includes trajectory generation, the method further comprising: encapsulating a perceptual template in the information kernel, the perceptual template providing at least one characteristic of a target workpiece for constraining the tool motion; obtaining perception data associated with the at least one characteristic of the target workpiece; and generating a motion trajectory by grounding the tool motion based on the perception data, wherein controlling the at least one functionality of the robot includes controlling the robot to perform the task action based on the motion trajectory.