We would like to thank John Michael and two anonymous referees for their valuable comments and suggestions on earlier drafts of this paper. We would also like to thank the participants to the workshop "Layers of Collective Intentionality" held in Vienna in August 2018, the participants to the workshop "Human-Robot Joint Action: Refining the understanding of joint action through an interdisciplinary perspective" held in Paris in September 2018, and the members of the Philosophy Department at the University of Granada.
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