As we move toward a future shaped by Society 5.0, collaboration between humans and robots is becoming increasingly essential. This workshop introduces an international research initiative focused on developing Human-Robot (H-R) teams powered by Co-Adaptive Orchestration (AIKO), an AI system that merges human and robot intelligence and physical capabilities into a seamless team. The project aims to integrate foundation models, multimodal human-robot interaction, XR-based communication, and human-centered policy frameworks to ensure safety, efficiency, and well-being. In this workshop, leading researchers from Japan, Sweden, Belgium, Denmark, and the United States will present their current research topics that form the foundation of this initiative. Beyond internal collaboration, the workshop is designed to foster open dialogue and knowledge exchange with the broader robotics, AI, and human-computer interaction communities. Topics include haptic-based skill acquisition, reinforcement learning for adaptive task coordination, XR interfaces for intuitive robot communication, and socio-technical frameworks for aligning AI with human values. This event will be an opportunity to explore future directions for H-R teaming and to invite critical discussions on how we can design AI systems that are not only powerful but also fundamentally human-centered.