Humans are highly effective collaborators, able to quickly coordinate with each other, often without the need for detailed guidance or instructions. This is because they can rely on a variety of communication cues to guide interactions, both explicit, such as gestures or words, and implicit, namely gaze. Gaze is a powerful nonverbal communication cue in humans and can contain different types of information: interest, engagement, and attention in social interactions are just a few. Social robotics is a discipline that focuses on building robots with strong communication capabilities that are able to interact with each other, with humans, and with the surrounding environment.