A control system for a robotic device having a limb comprising a plurality of hydraulic actuators (510, 512), the control system comprising: one or more processors; and data storage configured to store instructions, that when executed by the one or more processors, cause the control system to: cause the robotic device to perform a task that involves actuating the plurality of hydraulic actuators, wherein causing the robotic device to perform the task comprises causing a pump of a hydraulic drive system to supply hydraulic fluid at a first pressure to at least one of the plurality of hydraulic actuators, and causing the plurality of hydraulic actuators to follow respective task trajectories; during performance of the task, repeatedly track, over a pre-determined period of time, respective actuator trajectories of the plurality of hydraulic actuators in performing a portion of the task; based on the tracked respective actuator trajectories, determine one or more deviations of the respective tracked actuator trajectories from the respective task trajectories; responsive to the determination, cause the hydraulic drive system to adjust pressure of the supplied hydraulic fluid from the first pressure to a second pressure; cause the hydraulic drive system to supply hydraulic fluid at the second pressure to at least one of the plurality of hydraulic actuators during a subsequent portion of the task; responsive to the robotic device performing the task, track, over a pre-determined period of time, respective loads on the plurality of hydraulic actuators in performing a portion of the task; based on the tracked respective loads, determine that actuating the plurality of hydraulic actuators involves a third pressure that is different than the first pressure; and responsive to the determination, cause the hydraulic drive system to adjust pressure of the supplied hydraulic fluid from the first pressure to the third pressure. one or more processors; and data storage configured to store instructions, that when executed by the one or more processors, cause the control system to: cause the robotic device to perform a task that involves actuating the plurality of hydraulic actuators, wherein causing the robotic device to perform the task comprises causing a pump of a hydraulic drive system to supply hydraulic fluid at a first pressure to at least one of the plurality of hydraulic actuators, and causing the plurality of hydraulic actuators to follow respective task trajectories; during performance of the task, repeatedly track, over a pre-determined period of time, respective actuator trajectories of the plurality of hydraulic actuators in performing a portion of the task; based on the tracked respective actuator trajectories, determine one or more deviations of the respective tracked actuator trajectories from the respective task trajectories; responsive to the determination, cause the hydraulic drive system to adjust pressure of the supplied hydraulic fluid from the first pressure to a second pressure; cause the hydraulic drive system to supply hydraulic fluid at the second pressure to at least one of the plurality of hydraulic actuators during a subsequent portion of the task; responsive to the robotic device performing the task, track, over a pre-determined period of time, respective loads on the plurality of hydraulic actuators in performing a portion of the task; based on the tracked respective loads, determine that actuating the plurality of hydraulic actuators involves a third pressure that is different than the first pressure; and responsive to the determination, cause the hydraulic drive system to adjust pressure of the supplied hydraulic fluid from the first pressure to the third pressure. cause the robotic device to perform a task that involves actuating the plurality of hydraulic actuators, wherein causing the robotic device to perform the task comprises causing a pump of a hydraulic drive system to supply hydraulic fluid at a first pressure to at least one of the plurality of hydraulic actuators, and causing the plurality of hydraulic actuators to follow respective task trajectories; during performance of the task, repeatedly track, over a pre-determined period of time, respective actuator trajectories of the plurality of hydraulic actuators in performing a portion of the task; based on the tracked respective actuator trajectories, determine one or more deviations of the respective tracked actuator trajectories from the respective task trajectories; responsive to the determination, cause the hydraulic drive system to adjust pressure of the supplied hydraulic fluid from the first pressure to a second pressure; cause the hydraulic drive system to supply hydraulic fluid at the second pressure to at least one of the plurality of hydraulic actuators during a subsequent portion of the task; responsive to the robotic device performing the task, track, over a pre-determined period of time, respective loads on the plurality of hydraulic actuators in performing a portion of the task; based on the tracked respective loads, determine that actuating the plurality of hydraulic actuators involves a third pressure that is different than the first pressure; and responsive to the determination, cause the hydraulic drive system to adjust pressure of the supplied hydraulic fluid from the first pressure to the third pressure.