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
EPSRC Developing Responsible Robots for the Digital Economy (RoboTIPS) project EP/S005099/1
H2020 ERC Advance Grant Project CLOTH manIpuLation learning from DEmonstration (CLOTHILDE) project 741930