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.

翻译：本文介绍了Inria团队在首届euROBIN竞赛中使用的集成机器人系统，在该竞赛中，服务机器人在厨房环境下执行语音激活的家务任务。团队开发了一种改进的TIAGo++平台，该平台利用全身控制栈实现自主与遥操作模式，并基于LLM流水线进行指令理解与任务规划。关键贡献（已开源）包括这些组件的集成以及定制化遥操作设备的设计，从而解决了服务机器人部署中的实际挑战。