[The bluntness helps. Robert's expression shifts to one of awkward apology when he hears this - that would be an answer alone, but:]

... Yes. There... there was.

... I... kissed him. [Blunt as usual, but Robert's expression is definitely uncomfortable.] I... was under the impression this was... a-acceptable from previous statements made by yourself, but... I acknowledge I may have... overstepped boundaries...

... [Quietly:] ... I will not... d-do such a thing again, at least not without... more e-explicit permission...