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For instance, a person who ��drinks water�� can identify it as ��holding a glass�� (low level), or as ��relieving thirst�� (high level) (Vallacher and Wegner, 1987, 1989). This helps explain why different action identifications by human and robot may lead to dissimilar systems of goals and means of attainment (Kruglanski et al., 2002; Shah et al., 2002). To address these challenges, we suggest the use of multiple human-robot forms of communication  to pursue the joint goal. Lohan et al. (2014) proposed a distinction between two kinds of actions: path-oriented and manner-oriented, that can be communicated via two different linguistic utterance styles. Whereas, in path-oriented [http://www.selleckchem.com/products/SP600125.html Selleck SP600125] utterances the goal is stressed, in manner-oriented utterances, the means of motion are emphasized (e.g., Talmy, 1991). In our example,  Mrs. Brown and ��Rupert�� carry a recliner to the porch (Path-��let's move the chair to the porch�� or Manner-��I want to read my book on the porch��). Suddenly the phone rings and Mrs. Brown wants to go and answer ((Path-��let me go get the phone�� or Manner-��I need to answer this call��). ��Rupert�� must understand that the goal has changed and pause. Continuous and various communication forms over goal pursuit Research indicates that professional and social interactions between team members can develop the team's social cognition (Klimoski and Mohammed, 1994). There is evidence that a team's fluent on-going communication regarding goal pursuit reduces the need for preexisting knowledge (Kozlowski and Bell, 2003). In social HRI, it is critical to generate many levels of interaction with the automation. Hence, the robot should always be present and aim to facilitate the goal, even if only to provide recommendations. In civil aviation, for example, communication is key especially if things turn out unexpectedly. In the Northwest 2009 incident in Minneapolis the automation had the capability, but was not designed to point out that the task was not performed as planned and that the pilots missed their destination. To borrow from our previous example, let us suppose Mrs. Brown wants to grab a pillow from the upper cabinet. The robot  may not be able to reach so high, but it should continue to collaborate by providing feedback and advice; I cannot reach the uppermost cupboard (failure to complete task) but it is too dangerous for you to try to reach it on your own, if not urgent, perhaps we should call your son, or is there another pillow on a lower shelf? Much of human communication over goal pursuit is based on social cues (e.g., gestures, and mimicry) that automatically generate social judgment and behavior (Chartrand and Bargh, 1999; van Baaren et al., 2003; Leander et al., 2010).