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

TL;DR

This paper presents an integrated voice-activated household robot system using a modified TIAGo++ platform with a large language model pipeline for understanding instructions and planning tasks, demonstrated in a kitchen setting during the euROBIN coopetition.

Contribution

The paper introduces an open-source integrated system combining a modified TIAGo++ robot, a whole-body control stack, and an LLM-based instruction understanding pipeline for service robots.

Findings

Successful execution of household tasks in a kitchen setting

Open-source implementation of the integrated system

Effective voice command understanding and task planning

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.