6. The method of claim 2 , further comprising: providing, via the at least one output UI subsequent to performing the one or more task actions, one or more task-related parameters in the set of task-related parameters that are modifiable to modify the one or more task actions.
7. The method of claim 6 , further comprising: detecting a change in a robot state of the robot to a new robot state; determining, in response to the change in the robot state, that the user input is valid for the new robot state; and indicating, via the at least one output UI, that the user input is valid for the new state.