I am adding another answer as the above answer is with an old version of Twilio Studio and no longer works.
You can initiate a call with the Twilio REST API in the programming language of your choosing, like JavaScript, C#, PHP, Ruby, Python, or Java. Alternatively, you could use a cURL request where you pass in the URL corresponding to whichever communications channel you would like the conversation to be on. First, you'd go to your Autopilot bot console and select Channels
on the left-hand bar.

Then you'd pick, for example, Programmable Voice
as shown below.

Copy the URL for Programmable Voice
.

In the cURL request below, replace the corresponding variables with your Account SID and Auth Token (which can be found in your Twilio console, phone number to call, Twilio phone number, and that Programmable Voice URL in Url
.
curl -XPOST https://api.twilio.com/2010-04-01/Accounts/ACXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX/Calls.json \
--data-urlencode "To=PHONE-NUM-TO-CALL" \
--data-urlencode "From=TWILIO-NUMBER" \
--data-urlencode "Url=YOUR-AUTOPILOT-URL" \
-u 'ACXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX:your_auth_token'
Running that cURL request would initiate an outbound call whose first message is the initiation task of your Autopilot bot and then the bot would continue the conversation. As a default this is set as the greeting
task.

Again, this is the most recent way to initiate a conversation with a Twilio Autopilot bot. You could do it in a different programming language or also edit it to be a SMS, more info on that here.