  In this paper, we present a cyber-physical testbed created to enable a
human-robot team to perform a shared task in a shared workspace. The testbed is
suitable for the implementation of a tabletop manipulation task, a common
human-robot collaboration scenario. The testbed integrates elements that exist
in the physical and virtual world. In this work, we report the insights we
gathered throughout our exploration in understanding and implementing task
planning and execution for human-robot team.
