Were Robin and Howard Almost Bed Partners?

All that stood between the two was a lacy negligee

Later, Howard laughed through his own version of the story: "Late at night when I'm sleeping? And she knows my wife's downstairs. You put the pieces together. She's in negligee. She's almost naked. I should've rolled you over and taken what I needed. You were putting it out there! I should've done what I had to do."

Robin played along: "Why did you go to sleep so early?"