Lessons Learnt from Developing the Embodied AI Platform CAESAR for Domestic Service Robotics

In this paper we outline the development of \Caesar{}, a domestic service robot with which we participated in the robot competition RoboCup@Home for many years. We sketch the system components, in particular the parts relevant to the high-level reasoning system, that make CAESAR an intelligent robot. We report on the development and discuss the lessons we learnt over the years designing, developing and maintaining an intelligent service robot. From our perspective of having participated in RoboCup@Home for a long time, we answer the core questions of the workshop about platforms, challenges and the evaluation of integrative research.