{
  "abstract": "A robot is operated in an autonomous mode of operation to perform a plurality of tasks. It is determined that a later task of the plurality of tasks needs human assistance while performing a current task of the plurality of tasks. The human assistance is scheduled for the later task. A teleoperator is communicated with to perform the human assistance associated with the later task.",
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    "MENON SAMIR",
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  "title": "Autonomous robot with on demand teleoperation",
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