The project has been supported by a great team of PhD students (Kathleen  Belhassein  and Amandine Mayima) and Post-Doc (Victor Fernandez Castro) who have been able to establish and manage the interdisciplinary dialogue necessary for the success of this type of project. The entire project team has been able throughout the project to take advantage of their workeither to study in depth fundamental aspects  of joint action (leading to joint publications between roboticists, philosophers and psychologists) but also to confront to real world human-robot interaction.In that direction, the collaboration with the overall MuMMER project team and in particular the LAAS team opened the possibility to study human-robot interaction in a real world setting which has been a plus for both projects.