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From Vocal Instructions to Household Tasks: The Inria TIAGo++ in the euROBIN Service Robots Coopetition

arXiv cs.RO / 3/23/2026

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Key Points

  • The paper describes a modified TIAGo++ platform integrated with a whole-body control stack to operate in autonomous and teleoperated modes for voice-activated kitchen tasks.
  • It presents an LLM-based pipeline for instruction understanding and task planning to enable natural human-robot interaction.
  • The key contributions are opens-sourced, including the integration of components and the design of custom teleoperation devices, addressing practical deployment challenges in service robotics.
  • The work showcases the application of these components in the first euROBIN coopetition, highlighting end-to-end task execution in a real-world household setting.

Abstract

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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