This team description paper outlines the setup, contributions, and efforts for team NimbRo@ Home of the Autonomous Intelligent Systems group from the University of Bonn for their participation at RoboCup@ Home Open Platform League taking place in 2024 in Eindhoven, Netherlands. We plan to attend the competition with a modified PAL Robotics TIAGo++ omnidirectional, two-armed robot platform. Further, we describe our intended approaches for object pose and grasp estimation, semantic mapping and human-robot-interaction. Our software contributions can be found at: https://github. com/AIS-Bonn/.