The present disclosure relates to methods and systems for improving robotic task selection and execution. An example method includes determining an external environment state based on receiving information indicative of at least one aspect of an environment proximate to a robotic system having at least one actuator. The method also includes optionally determining a goal to be accomplished by a robotic system and determining a plurality of possible tasks each including at least one task involving the at least one actuator that may be carried out by the robotic system in pursuance of the goal. For each possible task group, the method includes determining a respective task group score based on an expected performance capability. The expected performance capability is based, at least in part, on the external environment state. The method includes selecting a task group based on the respective task group scores.