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Robotic systems typically follow a rigid approach to task execution, in which they perform the necessary steps in a specific order, but fail when having to cope with unexpected situations. To address this issue we propose an approach that allows for seamless handling of such cases, through dialogue and human-robot collaboration. The main contribution of the proposed approach is a control architecture that 1) autonomously detects and is cognizant of task execution failures, 2) initiates a dialogue with a human helper to obtain assistance, and 3) enables collaborative human-robot task execution through continuous dialogue. The proposed control architecture allows for a robust execution of a hierarchical task with complex task constraints, such as sequential, non-ordering, and multiple paths of execution. The recovery of the architecture from the unexpected situations is validated by a human-robot team on a building task.