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

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.
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Taxonomy
TopicsRobotics and Automated Systems · Modular Robots and Swarm Intelligence · Service-Oriented Architecture and Web Services
