Many new applications for robots require them to work alongside people as capable members of human-robot teams. We have developed Mars Escape, a two-player online game designed to study how humans engage in teamwork, coordination, and interaction. Data gathered from hundreds of online games is being used to develop computational models of human collaborative behavior in order to create an autonomous robot capable of acting as a reliable human teammate. In the summer of 2010, we will recreate the Mars Escape game in real life at the Boston Museum of Science and invite museum visitors to perform collaborative tasks together with the autonomous MDS robot Nexi.