Acknowledgement
This research was supported in part by the MSIT (Ministry of Science and ICT), Korea, under the Grand Information Technology Research Center support program (IITP-2022-2020-0-01462) supervised by the IITP (Institute for Information & communications Technology Planning & Evaluation), and in part by the Technology Innovation Program (or Industrial Strategic Technology Development Program-ATC+) (20009546, Development of service robot core technology that can provide advanced service in real life) funded By the Ministry of Trade, Industry & Energy (MOTIE, Korea)
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