HRI Pipeline for Humanoid Robots in Household Scenarios
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F25%3A00387107" target="_blank" >RIV/68407700:21730/25:00387107 - isvavai.cz</a>
Result on the web
<a href="https://github.com/ichores-research/hri-pipeline" target="_blank" >https://github.com/ichores-research/hri-pipeline</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
HRI Pipeline for Humanoid Robots in Household Scenarios
Original language description
The goal of the HRI pipeline is to provide a modular, containerized software stack for humanoid- robot human–robot interaction tasks. The software is designed to integrate several subsystems: - perception from cameras and microphones, - real-time object detection and 6D pose estimation, - gesture / pointing recognition, - speech and audio pre-processing, - communication with vendor robot stacks, - cross-version bridging between ROS 1 and ROS 2 components. Because different subsystems were delivered in different ROS distributions (e.g., ROS 1 Noetic, ROS 1 Melodic, ROS 2), and because vendor stacks may impose additional constraints, the repository uses explicit bridging and containerization to standardize deployment and isolate dependencies.
Czech name
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Czech description
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Classification
Type
R - Software
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Internal product ID
HRI iChores pipeline
Technical parameters
Software je napsán převážně v Pythonu, některé části jsou v C++. Je sestaven s využitím frameworku ROS (1 a 2) a ZeroMQ. Je určen ke spuštění v několika Docker kontejnerech, aby se předešlo problémům s instalací a kompatibilitou. Některé komponenty vyžadují grafickou kartu s CUDA.
Economical parameters
Software byl vytvořen v rámci projektů iChores GF23-04080L a částečně ROBOPROX CZ.02.01.01/00/22_008/0004590.
Owner IČO
68407700
Owner name
České vysoké učení technické v Praze, CIIRC