Hibikino-Musashi@Home 2025 Team Description Paper

TL;DR

The paper describes the development of a home service robot system by Hibikino-Musashi@Home, including vision, task planning, memory models, and navigation, aimed at personalized human assistance and participation in competitions.

Contribution

The team introduced a dataset generator, an open-source development environment, and brain-inspired memory models for personalized adaptation in home robots.

Findings

Effective robot vision system training data generator

Open-source environment facilitates development and testing

Memory models enable personalized assistance

Abstract

This paper provides an overview of the techniques employed by Hibikino-Musashi@Home, which intends to participate in the domestic standard platform league. The team developed a dataset generator for training a robot vision system and an open-source development environment running on a Human Support Robot simulator. The large-language-model-powered task planner selects appropriate primitive skills to perform the task requested by the user. Moreover, the team has focused on research involving brain-inspired memory models for adaptation to individual home environments. This approach aims to provide intuitive and personalized assistance. Additionally, the team contributed to the reusability of the navigation system developed by Pumas in RoboCup2024. The team aimed to design a home service robot to assist humans in their homes and continuously attend competitions to evaluate and improve the developed system.