Ensuring that robots can smoothly collaborate with humans in real-world environments is a crucial step towards their large-scale deployment. While some robotic systems are already engaging daily with human agents, for instance at partially automated industrial and manufacturing facilities, human-robot collaboration on everyday tasks remains scarce.Ensuring that robots can smoothly collaborate with humans in real-world environments is a crucial step towards their large-scale deployment. While some robotic systems are already engaging daily with human agents, for instance at partially automated industrial and manufacturing facilities, human-robot collaboration on everyday tasks remains scarce.[#item_full_content]