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We describe the design and evaluation of Chaski, a robot plan execution system that uses insights from human-human teaming to make human-robot teaming more natural and fluid. Chaski is a task-level executive that enables a robot to collaboratively execute a shared plan with a person. The system chooses and schedules the robot's actions, adapts to the human partner, and acts to minimize the human's idle time. We evaluate Chaski in human subject experiments in which a person works with a mobile and dexterous robot to collaboratively assemble structures using building blocks. We measure team performance outcomes for robots controlled by Chaski compared to robots that are verbally commanded, step-by-step by the human teammate. We show that Chaski reduces the human's idle time by 85%, a statistically significant difference. This result supports the hypothesis that human-robot team performance is improved when a robot emulates the effective coordination behaviors observed in human teams.