From Vocal Instructions to Household Tasks: The Inria TIAGo++ in the euROBIN Service Robots Coopetition
This work addresses practical challenges in deploying service robots for household tasks, but it is incremental as it integrates existing components like LLMs and whole-body control into a modified platform.
The paper tackled the problem of enabling service robots to perform voice-activated household tasks in a kitchen setting by developing an integrated robotics system, resulting in participation in the euROBIN coopetition with contributions including a whole-body control stack and an LLM-based pipeline for instruction understanding and task planning.
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.