Rebecca Pankow and John Oberlin programmed Baxter to pick petals off of a daisy during my graduate seminar last semester, Topics in Grounded Language for Robotics.   The robot localizes the petal on the daisy using synthetic photography based on light fields, then plucks each petal off of the daisy.  It looks for the largest open space when selecting the next petal to pick.  It keeps track of the parity of the petals picked so it can either nod and smile (if the answer is, “he loves me”) or frown (if the answer is, “he loves me not.”)  This project was recently featured in the New Yorker!