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Serving hors d'oeuvres is not as easy as it might seem! You have to move carefully between people, gently and politely offer them hors d'oeuvres, make sure that you have not forgotten to serve someone in the room, and refill the serving tray when required. These are the challenges that robots have to face in the Hors d'Oeuvres, Anyone? For the fifth year that this event has now been held, five entries took on the challenge of creating service robots who can offer hors d'oeuvres to attendees of the robot exhibition. Such robots require the ability to move safely in a crowded environment, cover a serving area, find and stop at people to offer food and interact with them, detect when more food is needed, and take the actions necessary to refill the serving tray.