Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to enable seamless collaboration and efficient co-working. In this paper, we present a novel tele-immersive framework that promotes cognitive and physical collaboration between humans and robots through Mixed Reality (MR). This framework incorporates a novel bi-directional spatial awareness and a multi-modal virtual-physical interaction approaches. The former seamlessly integrates the physical and virtual worlds, offering bidirectional egocentric and exocentric environmental representations. The latter, leveraging the proposed spatial representation, further enhances the collaboration combining a robot planning algorithm for obstacle avoidance with a variable admittance control. This allows users to issue commands based on virtual forces while maintaining compatibility with the environment map. We validate the proposed approach by performing several collaborative planning and exploration tasks involving a drone and an user equipped with a MR headset.