From Vocal Instructions to Household Tasks: The Inria Tiago++ in the euROBIN Service Robots Coopetition. - Fabio Amadio; Clemente Donoso; Dionis Totsila; Raphael Lorenzo; Quentin Rouxel; Olivier Rochel; Enrico Mingo Hoffman; Jean-Baptiste Mouret; Serena Ivaldi (CoRR, 2024)