1. A system, comprising: a remote assistor device; and a control system for a robotic device, wherein the control system is configured to: identify a first task and a second task, wherein the first task involves a first object and the second task involves a second object; determine a first expected time at which the robotic device is expected to perform the first task; determine a second expected time at which the robotic device is expected to perform the second task; based on the first expected time and the second expected time, determine an order in which to transmit a first request for remote assistance with the first task and a second request for remote assistance with the second task; transmit the first request and the second request to the remote assistor device in accordance with the order; receive, from the remote assistor device, a first response including data relating to performance of the first task; receive, from the remote assistor device, a second response including data relating to performance of the second task; and cause the robotic device to perform both the first task and the second task based on the first response and the second response.