Silvia Izquierdo-Badiola Gerard Canal Carlos Rizzo Guillem Alenyà Improved Task Planning through Failure Anticipation in Human-Robot Collaboration. 7875-7880 2022 ICRA https://doi.org/10.1109/ICRA46639.2022.9812236 conf/icra/2022 db/conf/icra/icra2022.html#Izquierdo-Badiola22