After three years of quietly toiling away on a robotic food system, Seattle startup Picnic has emerged from stealth mode with a system that assembles custom pizzas with little human intervention.

Picnic — previously known as Otto Robotics and Vivid Robotics — is the latest entrant in a cohort of startups and industry giants trying to find ways to automate restaurant kitchens in the face of slim margins and labor shortages. And its journey here wasn’t easy.

“Food is hard. It’s highly variable,” said Picnic CEO Clayton Wood. “We learned a lot about food science in the process of developing the system.”