A system, comprising: a processor configured to: operate (402, 404) a robot in an autonomous mode of operation in which the robot performs one or more tasks autonomously without human intervention; the system being characterised in that the processor is configured to: determine, while the robot is performing a current task, that a first strategy is not available for the robot to perform a later task autonomously; and while the robot is performing the current task and in response to the determination that the first strategy is not available for the robot to perform the later task autonomously, control the robot to perform the current task and pre-emptively schedule a human intervention mode of operation for the later task; and a communication interface coupled to the processor and configured to communicate control values to one or more actuators of the robot, wherein in the human intervention mode of operation for the later task, the processor is configured to: monitor teleoperation of the robot; determine (706, 708) based on the monitoring that a second strategy is available for the robot to resume autonomous operation to perform the later task to be performed by the robot; and in response to the determination that the second strategy is available for the robot to perform the later task, resume the autonomous mode of operation to control the robot and complete performance of the later task. a processor configured to: operate (402, 404) a robot in an autonomous mode of operation in which the robot performs one or more tasks autonomously without human intervention; the system being characterised in that the processor is configured to: determine, while the robot is performing a current task, that a first strategy is not available for the robot to perform a later task autonomously; and while the robot is performing the current task and in response to the determination that the first strategy is not available for the robot to perform the later task autonomously, control the robot to perform the current task and pre-emptively schedule a human intervention mode of operation for the later task; and determine, while the robot is performing a current task, that a first strategy is not available for the robot to perform a later task autonomously; and while the robot is performing the current task and in response to the determination that the first strategy is not available for the robot to perform the later task autonomously, control the robot to perform the current task and pre-emptively schedule a human intervention mode of operation for the later task; and a communication interface coupled to the processor and configured to communicate control values to one or more actuators of the robot, wherein in the human intervention mode of operation for the later task, the processor is configured to: monitor teleoperation of the robot; determine (706, 708) based on the monitoring that a second strategy is available for the robot to resume autonomous operation to perform the later task to be performed by the robot; and in response to the determination that the second strategy is available for the robot to perform the later task, resume the autonomous mode of operation to control the robot and complete performance of the later task. monitor teleoperation of the robot; determine (706, 708) based on the monitoring that a second strategy is available for the robot to resume autonomous operation to perform the later task to be performed by the robot; and in response to the determination that the second strategy is available for the robot to perform the later task, resume the autonomous mode of operation to control the robot and complete performance of the later task.