用语音指挥机器人完成厨房任务，实现人机协作新突破
From Vocal Instructions to Household Tasks: The Inria TIAGo++ in the euROBIN Service Robots Coopetition
- 基于大模型理解语音指令并规划任务流程
- 改装TIAGo++机器人支持自主与远程双模式运行
- 开源整套系统，适合服务机器人部署研究者参考
本文介绍Inria团队在首届euROBIN协竞中使用的集成机器人系统，该系统使服务机器人能在厨房环境中执行语音激活的家务任务。团队开发了经改造的TIAGo++平台，采用全身体控栈支持自主与远程操作模式，并构建基于大语言模型（LLM）的指令理解与任务规划管道。关键贡献（已开源）包括组件集成及定制化远程操控设备的设计，有效应对服务机器人实际部署中的挑战。
原文摘要 · Abstract (English)
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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