From Vocal Instructions to Household Tasks: The Inria TIAGo++ in the euROBIN Service Robots Coopetition
From Vocal Instructions to Household Tasks: The Inria TIAGo++ in the euROBIN Service Robots Coopetition
著者: Fabio Amadio, Clemente Donoso, Dionis Totsila, Raphael Lorenzo, Quentin Rouxel, Olivier Rochel, Enrico Mingo Hoffman, Jean-Baptiste Mouret, Serena Ivaldi
分類: cs.RO
原文アブストラクト
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.