In this paper, we consider an autonomous robot that persists
over time performing tasks and the problem of providing one additional
task to the robot's task library. We present an approach to generalize
tasks, represented as parameterized graphs with sequences, conditionals,
and looping constructs of sensing and actuation primitives. Our approach
performs graph-structure task generalization, while maintaining task ex-
ecutability and parameter value distributions. We present an algorithm
that, given the initial steps of a new task, proposes an autocompletion
based on a recognized past similar task. Our generalization and auto-
completion contributions are eective on dierent real robots. We show
concrete examples of the robot primitives and task graphs, as well as
results, with Baxter. In experiments with multiple tasks, we show a sig-
nicant reduction in the number of new task steps to be provided
