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  • https://doi.org/10.1109/rap.2026.3676940Copy DOI Icon

IChores: Intuitive Collaboration With Household Robots in Everyday Settings

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Abstract

We present <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">iChores</i>, an open-source, robot-agnostic interface designed to facilitate intuitive human interaction for household tasks, enabling users to direct robots through natural language and deictic gestures (pointing) to perform complex chores, such as tidying a room. The system utilizes a modular microservice architecture that integrates state-of-the-art vision, natural language understanding (NLU), and reasoning modules. We detail the implementation of the framework, provide a public repository for reproducibility, and present an evaluation of 30 scenarios of increasing complexity. The general architecture of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">iChores</i> and its various modules are briefly described. The implementation is publicly available through our GitHub project page, where all modules are provided as their own repositories.

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