Action Pyramid

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The "action pyramid" refers to a number of subsystems that executes Plans in the real world or a test bed. The term "pyramid" is used because a compact representation of a Plan at the top of the pyramid may give way to massive amounts of actuator data at the bottom of the pyramid in order to control the physical robot "body".

The Perception Pyramid is the equivalent concept for converting sensor (camera and other) data into Plans.

The action pyramid consists of: