system demonstration : serve a drink scenario

In this demonstration, the system works in a scenario where a table is in front of the robot, and a user interacts with the system. There are two mugs and one bottle on top of the table. At the start of the experiment, the set of categories known to the system is empty and therefore, the system recognizes all table-top objects as Unknown. A user interacts with the system by teaching Mug and Bottle categories. The system conceptualizes Bottle and Mug categories using the extracted object views and recognizes all object properly. This illustrates the process of acquiring categories in an open-ended fashion with user mediation. Later, the user instructs the robot to perform a serve_ a_drink task. In this task, the robot must be able to detect the pose and recognize all objects. Afterward, it has to grasp the Bottle and then transports it on top of each Mug and serve the drink.