1. A computer-implemented method for enabling generalizable user-robot collaboration, comprising: providing a composition of a robot capability and one or more user interaction capabilities, wherein the robot capability models at least one functionality of a robot for performing a type of task action; specializing the robot capability with an information kernel to provide a specialized robot capability, wherein the information kernel encapsulates a set of task-related parameters associated with the type of task action; providing an instance of the specialized robot capability as a robot capability element that controls the at least one functionality of the robot based on the set of task-related parameters; providing one or more instances of the one or more user interaction capabilities as one or more interaction capability elements; executing the robot capability element to receive user input via the one or more user interaction capability elements; and controlling, based on the user input and the set of task-related parameters, the at least one functionality of the robot to perform at least one task action of the type of task action in collaboration with the user input.
1. A computer-implemented method for enabling generalizable user-robot collaboration, comprising: providing a composition of a robot capability and one or more user interaction capabilities, wherein the robot capability models at least one functionality of a robot for performing a type of task action; specializing the robot capability with an information kernel to provide a specialized robot capability, wherein the information kernel encapsulates a set of task-related parameters associated with the type of task action; providing an instance of the specialized robot capability as a robot capability element that controls the at least one functionality of the robot based on the set of task-related parameters; providing one or more instances of the one or more user interaction capabilities as one or more interaction capability elements; executing the robot capability element to receive user input via the one or more user interaction capability elements; and controlling, based on the user input and the set of task-related parameters, the at least one functionality of the robot to perform at least one task action of the type of task action in collaboration with the user input. 9. The method of claim 1 , wherein the type of task action includes motion instant replay and the set of task-related parameters in the information kernel includes a TMP, and wherein executing the robot capability element further comprises: determining, via the one or more user interaction capabilities, a start pose of the robot; and controlling, based on the start pose of the robot and a tool motion trajectory of the TMP, one or more motions of the robot in performing the at least one task action.