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RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service Robots using Foundation Models for Perception and Planning
Raphael Memmesheimer, Jan Nogga, Bastian Pätzold +8
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 desc…
A Comparison of Prompt Engineering Techniques for Task Planning and Execution in Service Robotics
Jonas Bode, Bastian Pätzold, Raphael Memmesheimer +1
Recent advances in LLM have been instrumental in autonomous robot control and human-robot interaction by leveraging their vast general knowledge and capabilities to understand and…
NimbRo wins ANA Avatar XPRIZE Immersive Telepresence Competition: Human-Centric Evaluation and Lessons Learned
Christian Lenz, Max Schwarz, Andre Rochow +4
Robotic avatar systems can enable immersive telepresence with locomotion, manipulation, and communication capabilities. We present such an avatar system, based on the key component…
External Camera-based Mobile Robot Pose Estimation for Collaborative Perception with Smart Edge Sensors
Simon Bultmann, Raphael Memmesheimer, Sven Behnke
We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed…
RoboCup 2022 AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and Phase-based In-walk Kicks
Dmytro Pavlichenko, Grzegorz Ficht, Arash Amini +7
Beating the human world champions by 2050 is an ambitious goal of the Humanoid League that provides a strong incentive for RoboCup teams to further improve and develop their system…