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

• URL: http://arxiv.org/abs/2606.13049v1
• Date: Thu, 11 Jun 2026 08:33:43 GMT
• Title: Y-BotFrame: An Extensible Embodied Agent Framework for Quadruped Robot Assistants
• Abstract summary: We introduce Y-BotFrame, an embodied platform that turns a robot into an intelligent ground assistant.<n>Y-BotFrame integrates multimodal perception capabilities, including speech, vision, and LiDAR.<n>The system maps user natural-language instructions into executable embodied task units that can be carried out by the robot.
• Score: 17.736536092445483
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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 agents.The supplementary video is available at https://xdei-group.github.io/Y-BotFrame/.

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