Acknowledgments:
PON I&C 2014-2020 MISE Bartending Robot for Interactive Long-Lasting Operations (BRILLO) project F/190066/01-02/X44
H2020 MSCA ITN PErsonalized Robotics as SErvice Oriented applications (PERSEO) project 955778
CHIST-ERA NET on Explainable Machine Learning-based Artificial Intelligence – XAI: "Collaborative HiErarchical Robotic ExplaNaTions" (COHERENT)
H2020 ERC Advance Grant Project CLOTH manIpuLation learning from DEmonstration (CLOTHILDE) project 741930