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arXiv · 2412.17861

From Vocal Instructions to Household Tasks: The Inria TIAGo++ in the euROBIN Service Robots Coopetition

Fabio Amadio·Clemente Donoso·Dionis Totsila·Raphael Lorenzo·Quentin Rouxel·Olivier Rochel·Enrico Mingo Hoffman·Jean-Baptiste Mouret·Serena Ivaldi
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Abstract

This paper describes the Inria team's integrated robotics system used in the 1st euROBIN coopetition, during which service robots performed voice-activated household tasks in a kitchen setting. The team developed a modified TIAGo++ platform that leverages a whole-body control stack for autonomous and teleoperated modes, and an LLM-based pipeline for instruction understanding and task planning. The key contributions (opens-sourced) are the integration of these components and the design of custom teleoperation devices, addressing practical challenges in the deployment of service robots.

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Fabio Amadio, Clemente Donoso, Dionis Totsila, Raphael Lorenzo, Quentin Rouxel, Olivier Rochel, Enrico Mingo Hoffman, Jean-Baptiste Mouret, Serena Ivaldi. 2024-12-20. From Vocal Instructions to Household Tasks: The Inria TIAGo++ in the euROBIN Service Robots Coopetition. https://arxiv.org/abs/2412.17861

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