From Vocal Instructions to Household Tasks: The Inria TIAGo++ in the euROBIN Service Robots Coopetition
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arXiv
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| Main Authors: | , , , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866908902369525760 |
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| author | Amadio, Fabio Donoso, Clemente Totsila, Dionis Lorenzo, Raphael Rouxel, Quentin Rochel, Olivier Hoffman, Enrico Mingo Mouret, Jean-Baptiste Ivaldi, Serena |
| author_facet | Amadio, Fabio Donoso, Clemente Totsila, Dionis Lorenzo, Raphael Rouxel, Quentin Rochel, Olivier Hoffman, Enrico Mingo Mouret, Jean-Baptiste Ivaldi, Serena |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_17861 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | From Vocal Instructions to Household Tasks: The Inria TIAGo++ in the euROBIN Service Robots Coopetition Amadio, Fabio Donoso, Clemente Totsila, Dionis Lorenzo, Raphael Rouxel, Quentin Rochel, Olivier Hoffman, Enrico Mingo Mouret, Jean-Baptiste Ivaldi, Serena Robotics 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. |
| title | From Vocal Instructions to Household Tasks: The Inria TIAGo++ in the euROBIN Service Robots Coopetition |
| topic | Robotics |
| url | https://arxiv.org/abs/2412.17861 |