A method for a human-robot collaborative operation includes having a robot perform at least one automated task within a workspace and generating a dynamic model of a workspace based on a static nominal model of the workspace and data from a plurality of sensors disposed throughout the workspace. The method further includes controlling operation of the robot based on the dynamic model and the human operation, and verifying completion of the human operation based on a task completion parameter associated with the human operation and on based on at least one of the dynamic model, the data from the plurality of sensors, and the at least one automated task performed by the robot.