arxiv:2412.17861

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

Published on Dec 20, 2024

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Abstract

The Inria team developed a voice-activated service robot system for household tasks in a kitchen using a modified Tiago++ platform with whole-body control and an LLM-based instruction pipeline.

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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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