The use of service robots to assist aging people in their own homes has the potential to allow people to maintain their independence, increasing their health and quality of life. In many assistive applications, robots perform tasks on a person's behalf that they are unable or unwilling to monitor directly. It is important that users be given useful and appropriate information about task progress. People being assisted in homes and other real-world environments are likely to be engaged in other activities while they wait for a service, so information should also be presented in an appropriate, non-intrusive manner. This paper presents a human-robot interaction experiment investigating what type of feedback people prefer in verbal updates by a service robot about distributed assistive services. People found feedback about time until task completion more useful than feedback about events in task progress or no feedback. We also discuss future research directions that involve giving non-expert users more input into the task planning process when delays or failures occur that necessitate replanning or modifying goals.