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：本文介绍了法国国家信息与自动化研究所（Inria）团队在第一届euROBIN协作竞赛中使用的集成机器人系统。该竞赛要求服务机器人在厨房环境中执行语音激活的家务任务。团队开发了改进型Tiago++平台，其采用全身控制架构支持自主与遥操作模式，并构建了基于大语言模型的指令理解与任务规划流程。本工作的核心贡献（已开源）在于这些组件的系统集成以及定制化遥操作设备的设计，有效解决了服务机器人实际部署中的关键挑战。