6.7ROMar 19
From Vocal Instructions to Household Tasks: The Inria TIAGo++ in the euROBIN Service Robots CoopetitionFabio Amadio, Clemente Donoso, Dionis Totsila et al.
This paper describes the Inria team's integrated robotics system used in the 1st euROBIN \textit{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.