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Shared plan computed by the robot to solve the joint goal: first removing the three objects (books) that are located on the table, then sweeping the table in order to clean it and finally placing the objects back on the table. While cooperatively achieving the task, the robot will be able to detect and assess correctly why the human partner stays idle, for instance in cases where, due to a momentary absence, the human may have missed the fact that robot has swept the table.
