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.

翻译：本文描述了Inria团队在首届euROBIN“合作竞赛”中使用的集成机器人系统，该系统使服务机器人在厨房环境中执行语音激活的家务任务。团队开发了一款改进型TIAGo++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。关键技术贡献（已开源）在于这些组件的集成以及定制的遥操作设备设计，解决了服务机器人部署中的实际挑战。