We report on (i) a software with a Natural Language vocabulary (categories) for object recognition that interfaces with the high-level task scheduler for semantic scene understanding, and (ii) updated software for object detection and localization in 3D map based on semantic segmentation and unknown object detection integrated in ARI framework. Data used to test the methods and software were obtained in relevant realistic laboratory environments. Further testing in hospital environments integrated with user tasks is foreseen in upcoming months. Details and links available within D2.6 at our results page.