Conversation so far:
what is A beautiful World?
the release of the album in 2003 with its name changed to A Beautiful World.
Was the album successful?
A Beautiful World fell below the label's commercial expectations.
how many copies did it sell?
selling 119,000 copies as of January, 2012.
what number was it on the billboard chart?
debuted at number 152 on the Billboard 200 albums chart.
What did critics have to say about the album?
CANNOTANSWER.
Did he release any other albums between 1999-2003?
CANNOTANSWER.
were any of his songs a success?
The album's under-performance troubled Thicke personally, but it proved enough to make him a wanted collaborator.

Question: who did he work with as a collaborator?
Self-contained rewrite: who did Robin Thicke work with as a collaborator?