Intelligent robots are advancing rapidly, with embodied agents increasingly expected to work and live alongside humans in households, factories, hospitals, schools, etc. For these agents to operate safely, socially, and intelligently, they must effectively interact with humans and adapt to changing environments. Moreover, such interactions can transform human behavior and even reshape the environment—for example, through adjustments in human motion during robot-assisted handovers or the redesign of objects for improved robotic grasping. Beyond established research in human-human and human-scene interactions, vast opportunities remain in exploring human-robot-scene collaboration. This workshop will explore the integration of embodied agents into dynamic human-robot-scene interactions.