Suggesting, selecting, and applying task-level movement parameters to implementation of robot motion primitives

Methods, apparatus, systems, and computer-readable media are provided for determining, based on a task to be performed by a robot and one or more attributes of an environment in which the robot is to perform the task, a suggested task-level movement parameter for application to movement of the robot while performing the task; providing output indicative of the suggested task-level movement parameter; receiving input indicative of user selection of the suggested task-level movement parameter or a user-defined task-level movement parameter; determining, based on the received input, an actual task-level movement parameter to be applied to movement of the robot while performing the task; and identifying, based on the actual task-level movement parameter, a plurality of component-level movement parameters to be applied to a plurality of motion primitives implemented by one or more operational components of the robot to perform the task.