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 action pyramid consists of:
- Senso-Motoric Subsystem - Contains drivers for the various robot actuators
- 3D Reconstruction - Determines the position of robot limbs
- Attention Subsystem - Tracks the execution of plans and compares expected outcomes with planned outcomes. The subsystem may correct Plans or even initiate re-planning.