2024/12/19 by Raphael Memmesheimer, Memmesheimer, Raphael, Jan Nogga +18 · 1 citation
Computer Science · Engineering · #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Automated Systems
paper · pdf · doi:10.48550/arxiv.2412.14989
openalex publication_date 2024/12/19 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We present the approaches and contributions of the winning team NimbRo@Home at the RoboCup@Home 2024 competition in the Open Platform League held in Eindhoven, NL. Further, we describe our hardware setup and give an overview of the results for the task stages and the final demonstration. For this year's competition, we put a special emphasis on open-vocabulary object segmentation and grasping approaches that overcome the labeling overhead of supervised vision approaches, commonly used in RoboCup@Home. We successfully demonstrated that we can segment and grasp non-labeled objects by text descriptions. Further, we extensively employed LLMs for natural language understanding and task planning. Throughout the competition, our approaches showed robustness and generalization capabilities. A video of our performance can be found online.