Y-BotFrame: An Extensible Embodied Agent Framework for Quadruped Robot Assistants

Abstract:Quadruped robots are capable of traversing a wide range of complex terrains with high flexibility. As highly mobile ground-based intelligent platforms, they can be equipped with modules for navigation control, environmental perception, and intelligent interaction, thereby serving as real-world mobile deployment platforms for various algorithms. In this paper, we introduce Y-BotFrame, an extensible embodied platform that turns a robot into an intelligent ground assistant. Y-BotFrame integrates multimodal perception capabilities, including speech, vision, and LiDAR, and employs a large language model as the cognitive core for environmental understanding, contextual reasoning, and task planning. The system maps user natural-language instructions into executable embodied task units that can be carried out by the robot. Y-BotFrame supports natural interaction through voice commands and visual feedback, removing the need for a remote controller and enabling efficient human-robot collaboration. With a highly extensible framework, Y-BotFrame supports plug-and-play integration of new functional modules as well as modular upgrades and iterative development, offering a reference implementation for the real-world deployment of general-purpose, instruction-driven embodied this http URL supplementary video is available at this https URL.

Robotics (cs.RO)

arXiv:2606.13049 [cs.RO]

(or arXiv:2606.13049v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.13049 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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