1. A graphical user interface for controlling a robot, comprising: an environment map window configured for displaying a map of an environment proximate the robot; a robot designator configured for showing a robot position and a robot pose in the environment map window; at least one task designator configured for positioning by a user in the environment map window and indicating a task for the robot to achieve; and a control intermediary configured for linking user defined tasks with robot instructions by: analyzing a position of the at least one task designator relative to a position of at least one robot component; determining a task-oriented autonomy level for the robot responsive to the analysis; and communicating target achievement information to the robot, wherein the target achievement information comprises: instructions from the control intermediary for guiding the robot to achieve the task if the task-oriented autonomy level comprises low robot initiative; and instructions from the control intermediary directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level comprises high robot initiative.