How to return Windows Scheduled task Description?

From the Windows Scheduled Task:

I see the Date, Author, Description, and URI tags under RegistrationInfo tag in the task XML file

I want to get the Description value.

I tried this:

$TaskInfo = [xml] (Get-Content $AbsolutePath)  # to the XML file

$TaskInfo.Task.RegistrationInfo just shows me Date, Author, and URI 

How can I return the Task.RegistrationInfo.Description?