Humanoid robots are versatile platforms with the potential to assist humans in several domains, from education to healthcare, from entertainment to the factory of the future. To find their place into our daily life, where complex interactions and collaborations with humans are expected, their social and physical interaction skills need to be further improved. Recent findings: The hallmark of humanoids is their anthropomorphic shape, which facilitates the interaction but at the same time increases the expectations of the human in terms of advanced cooperation capabilities. Cooperation with humans requires an appropriate modeling and real-time estimation of the human state and intention. This information is required both at a high-level by the cooperative decision-making policy and at a low-level by the interaction controller that implements the physical interaction. Real-time constraints induce simplified models that limit the decision capabilities of the robot during cooperation.