1. A computer-implemented method for executing a handover action, the method comprising: receiving, using one or more computer processors, sensor data from one or more sensors coupled to a robot unit, the sensor data describing one or more of surroundings of the robot unit and an object manipulated by the robot unit; calculating, using the one or more computer processors, a probability of a perceptual classification related to one or more of the robot unit, a human action, an environment, an electro-mechanical state based on the sensor data; calculating, using the one or more computer processors, an affordance based on the probability of the perceptual classification using a preference model; determining, using the one or more computer processors, a handover action based on the affordance; executing, using the one or more computer processors, the handover action; and updating, using the one or more computer processors, the preference model based on feedback.