diff --git a/README.md b/README.md index 6968399a..b155b9b1 100644 --- a/README.md +++ b/README.md @@ -17,8 +17,20 @@ Improvements are also welcome in the form of pull requests (see [guidelines](htt ### FAQ See the Frequently Asked Questions [here](https://github.com/RoboCupAtHome/RuleBook/wiki/FAQ:-Frequently-Asked-Questions). +Or ask us via Telegram: [https://t.me/RoboCupAtHome](https://t.me/RoboCupAtHome) + ### Change log -No changes so far +The Rulebook is being completely restructured. +Changes are being pushed to the [2019/restructure](https://github.com/RoboCupAtHome/RuleBook/tree/2019/restructure) branch until the rulebook reaches a Draft state. + +#### Highlights +- **Less stressful competition:** Each competition day will have 2 *testing blocks* (e.g.from 9:00 to 12:00 and from 15:00 to 18:00), giving time to teams to eat, rest, and prepare. +- **Thematic *free* testing:** Each *testing block* will have assigned a *scenario*, namely cleaning the house or hosting a party. Teams will have assigned at least 2 testing slots to solve the *task* of their choise. +- **Task-driven testing:** Tests are no more. The rulebook will have a battery of tasks featuring different abilities from which teams can choose which to solve. It won't be possible to solve all tasks. +- **Goal-driven scoring:** A robot can only score by accomplishing the *main goal* of a *task*. In addition to the *main goal*, several bonus objectives are available with juicy rewards, but will be only considered if the *main goal* is completed. +- **Unlimited *Continues*:** The continue rule is no more. Instead, robots may call for a *Deus Ex Machina* and have human assistant helping it to solve the task. There is no limit on the number of times a robot can ask for help, and the nature of the help is unconstrained. Nonetheless, a proportional score reduction applies. + +These changes obey to one objective: **robots must succeed**. ### Question, issues, and contribution Guidelines @@ -62,8 +74,11 @@ Data is recorded from the robots during the competition. It is available through - [Speech Recognition](https://mega.nz/#!ts02iYRQ!L3McBFzodJG0UTmauCj2crSapmAr8GWwtB4FLGzQlEs) ### More information -- @Home Website: [http://robocupathome.org/](http://robocupathome.org/) -- RoboCup 2018 Website [http://robocup2018.org/](http://robocup2018.org/) +- **@Home Website**: [http://athome.robocup.org/](http://athome.robocup.org/) + - @Home Website (backup): [http://robocupathome.org/](http://robocupathome.org/) +- **Telegram group** for Q&A and rules discussion: [https://t.me/RoboCupAtHome](https://t.me/RoboCupAtHome) +- Whatsapp group: Please join the Telegram group +- RoboCup 2019 Website [https://2019.robocup.org](https://2019.robocup.org) - [General mailing list](http://lists.robocup.org/cgi-bin/mailman/listinfo/robocup-athome) - [Youtube channel](https://www.youtube.com/channel/UChkdCpT0xrFMMt-_N8wSVew/) - [Facebook Page](https://www.facebook.com/robocupathome/) diff --git a/Rulebook.tex b/Rulebook.tex index 9d9e7c27..9b05e466 100644 --- a/Rulebook.tex +++ b/Rulebook.tex @@ -55,40 +55,55 @@ \input{Setup} + + + \chapter{Tests in Stage I} \label{chap:stage_I} +% Uncomment to get aesthetic improvement +\cleardoublepage +\input{tasks/CarryMyLuggage} \newpage \input{tasks/CleanUp} \newpage -\input{tasks/TakeOutGarbage} +\input{tasks/Farewell} \newpage -\input{tasks/Receptionist} +\input{tasks/FindMyMates} \newpage -\input{tasks/Farewell} +\input{tasks/GPSR} +\newpage +\input{tasks/Receptionist} \newpage \input{tasks/ServingDrinks} -% \newpage -% \input{tasks/ServingBeverages} - \newpage \input{tasks/StoringGroceries} +\newpage +\input{tasks/TakeOutGarbage} + + + \chapter{Tests in Stage II} \label{chap:stage_II} \newpage \input{tasks/CleanTable} - +\newpage +\input{tasks/EGPSR} \newpage \input{tasks/FindMyDisk} \newpage \input{tasks/SetTable} - \newpage +\input{tasks/SticklerForRules} + + + \input{tests/Finals} + \printabx \printidx diff --git a/Setup.tex b/Setup.tex index 8a068678..c785f7c9 100644 --- a/Setup.tex +++ b/Setup.tex @@ -70,7 +70,8 @@ \subsection{Poster teaser session} \item \textbf{Place:} The poster session may be held in or around the arena, but should not interfere with the robot inspection (see~\refsec{sec:robot_inspection}). \item \textbf{Evaluation:} The teaser presentation and the poster presentation are evaluated by a jury consisting of members of the other teams. Each team has to provide one person (preferably the team-leader) to follow and evaluate - the entire poster teaser session and the poster session. Not providing a person results in no score for this team in the \iterm{Open Challenge}. + %the entire poster teaser session and the poster session. Not providing a person results in no score for this team in the \iterm{Open Challenge}. + the entire poster teaser session and the poster session. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % diff --git a/extra_dict.pws b/extra_dict.pws index 156c572f..6795f10c 100644 --- a/extra_dict.pws +++ b/extra_dict.pws @@ -13,7 +13,6 @@ d'Ing Dominey du Ecole -enierie et Fariborz Gestion @@ -189,4 +188,9 @@ GPSR EEGPSR Deus Machina -pts \ No newline at end of file +pts +outliers +OSL +rulebook +rulebooks +EGPSR \ No newline at end of file diff --git a/general_rules/ExternalDevices.tex b/general_rules/ExternalDevices.tex index 6f3822df..8d804a40 100644 --- a/general_rules/ExternalDevices.tex +++ b/general_rules/ExternalDevices.tex @@ -1,16 +1,15 @@ % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% +% % External Devices -% +% % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - \section{External devices} \label{rule:robot_external_devices} Everything which is not part of the robot is considered an \iterm{external device}. All external devices must be authorized by the \iaterm{Technical Committee}{TC} during the \iterm{Robot Inspection} test (see~\refsec{sec:robot_inspection}). The \iaterm{Technical Committee}{TC} specifies whether an external device can be used freely, under referee supervision, and its impact on scoring. In general, external devices must be removed quickly after the test. - + \noindent \textbf{Remark:} The use of \iterm{wireless devices} is strictly prohibited. \iterm{External microphones}, hand microphones, and headsets are not allowed in OPL and it use is discouraged in DSPL and SSPL. \subsection{On-site external computing} @@ -20,7 +19,7 @@ \subsection{On-site external computing} External Computing Devices must be placed in the \iaterm{\textbf{E}xternal \textbf{C}omputing \textbf{R}esource \textbf{A}rea}{ECRA} which is announced by the \iaterm{Technical Committee}{TC} during setup days. A switch connected to the arena wireless network will be available to teams in the ECRA. -It is strictly forbidden to connect any kind of device or peripheral (e.g. screens, mouses, keyboards, etc.) to the computers in the ECRA during the competition. +It is strictly forbidden to connect any kind of device or peripheral (e.g.~screens, mouses, keyboards, etc.) to the computers in the ECRA during the competition. A maximum of two laptops and two people from different teams is allowed at any time in the ECRA. Teams using laptops as External Computing Devices must remove the device immediately after the test. @@ -46,23 +45,10 @@ \subsection{On-line external computing} \subsection{Official Standard Laptop for DSPL} \label{rule:osl_dspl} -In the Domestic Standard Platform League, teams may use the \iaterm{Official Standard Laptop}{OSL} connected to the Toyota HSR via Ethernet cable, safely located in the TOYOTA HSR \iterm{Mounting Bracket} provided by TOYOTA for this purpose. - -\subsubsection{Technical Specifications} -The technical specifications for the Official Standard Laptop in the Domestic Standard Platform League are the following: - - - \begin{itemize} - \item \textbf{Brand and model:} DELL Alienware 15 or 17 - \item \textbf{CPU:} Core-i7 series - \item \textbf{RAM:} 16GB or 32GB - \item \textbf{GPU:} NVIDIA GeForce GTX 1070 or 1080 - \item \textbf{Storage:} Unrestricted. -\end{itemize} - -No other brands or models will be accepted. There are no constrains regarding the software installed in the OSL but no additional hardware is allowed. +In the Domestic Standard Platform League, teams must use the \iaterm{Official Standard Laptop}{OSL} connected to the Toyota HSR via Ethernet cable, safely located in the TOYOTA HSR \iterm{Mounting Bracket} provided by TOYOTA for this purpose. -The referees, Technical Committee, and Organizing Committee members may run random checks anytime during the competition prior to the test to verify that the laptop in the TOYOTA HSR \iterm{Mounting Bracket} has no additional hardware plugged in, and matches the authorized specifications. +Any laptop fitting inside the TOYOTA HSR \iterm{Mounting Bracket} is allowed, regardless of its technical specification. +All competing robots must have mounted an OSL, whether they use it or not, so all TOYOTA HSRs have the same load restrictions. % Local Variables: diff --git a/general_rules/Organization.tex b/general_rules/Organization.tex index 4d52d484..33610fa2 100644 --- a/general_rules/Organization.tex +++ b/general_rules/Organization.tex @@ -11,7 +11,8 @@ \subsection{Stage system}\label{rule:stages} The \iaterm{Housekeeper} scenario features tasks related to cleaning, organizing, and giving maintenance; while the \iaterm{Party Host} scenario focuses in attending guests needs and providing general assistance during a party. \begin{enumerate} - \item \textbf{Robot Inspection:} For security, robots are inspected during setup days. A robot must pass \iterm{Robot Inspection} test (see~\refsec{sec:robot_inspection}) in order to compete. + \item \textbf{Robot Inspection:} For security, robots are inspected during setup days. + A robot must pass \iterm{Robot Inspection} test (see~\refsec{sec:robot_inspection}) in order to compete. \item \textbf{Stage~I:} The first days of the competition called \iterm{Stage~I}. All qualified teams can participate in \iterm{Stage~I}. @@ -39,6 +40,7 @@ \subsection{Schedule} The \iaterm{Organizing Committee}{OC} announces the schedule during the setup days (see Table \ref{tbl:schedule}). \item \textbf{Slots:} The \iaterm{Organizing Committee}{OC} assigns at least two \iterm{test slots} of 5 minutes to each team in each block. + The maximum number of \iterm{tests slots} will be announced during setup days by the \iaterm{Technical Committee}{TC} based on the available time and the number of participating teams. A team can solve any task during its test slot. Remaining block time can be used to assign additional testing slots to interested teams. Testing slots are randomly assigned to teams in each block. @@ -124,6 +126,7 @@ \subsection{Score system} The \iaterm{score system} has the following constrains \begin{enumerate} + \item \textbf{Stage~I:} The maximum total score per task in \iterm{Stage~I} is \scoring{1000 points}. \item \textbf{Stage~II:} The maximum total score per task in \iterm{Stage~I} is \scoring{2000 points}. diff --git a/general_rules/Procedure.tex b/general_rules/Procedure.tex index 8882ac69..2cc8af18 100644 --- a/general_rules/Procedure.tex +++ b/general_rules/Procedure.tex @@ -15,6 +15,9 @@ \subsection{Maximum number of team members} \item \textbf{Regular Tests:} During a regular test, the maximum number of team members allowed inside the arena is \emph{one} (1). Exceptions are tests that explicitly require volunteer assistance. \item \textbf{Setup:} During the setup of a test, the number of team members inside the arena is not limited. + % \item \textbf{Open Demonstrations:} During the \iterm{Open Challenge} \iterm{Demo Challenge}, and the \iaterm{final demonstration}{Finals}, the number of team members inside the arena is not limited. + %\item \textbf{Open Demonstrations:} During the \iterm{Open Challenge}, and the \iaterm{final demonstration}{Finals}, the number of team members inside the arena is not limited. + \item \textbf{Open Demonstrations:} During the \iaterm{final demonstration}{Finals}, the number of team members inside the arena is not limited. \item \textbf{Moderation:} During a regular test, one team member \emph{must} be available to host and comment the test (see~\refsec{rule:moderator}). \end{enumerate} @@ -243,8 +246,7 @@ \subsection{Restart} If the robot is not ready, the test is considered finished. \item \textbf{Scoring:} If the score of the second attempt is lower than the score of the first one, the average score of first and second run is taken. - - \end{enumerate} +\end{enumerate} % Local Variables: % TeX-master: "../Rulebook" diff --git a/general_rules/Robots.tex b/general_rules/Robots.tex index 8268a7dc..a1762bfd 100644 --- a/general_rules/Robots.tex +++ b/general_rules/Robots.tex @@ -8,7 +8,7 @@ \subsection{Number of robots} \begin{enumerate} \item \textbf{Registration:} The maximum \term{number of robots} per team is \emph{two} (2). \item \textbf{Regular Tests:} Only one robot is allowed per test. For different tests different robots can be used. - % \item \textbf{Open Demonstrations:} In the \iterm{Open Challenge} and the \iterm{Finals} both robots can be used simultaneously. + \item \textbf{Open Demonstrations:} In the \iterm{Finals} both robots can be used simultaneously. \end{enumerate} \subsection{Appearance and safety} diff --git a/general_rules/Scenario.tex b/general_rules/Scenario.tex index ae599173..4d8dd1d3 100644 --- a/general_rules/Scenario.tex +++ b/general_rules/Scenario.tex @@ -56,7 +56,7 @@ \subsection{Furniture} \item a couch, \item a small table, \item a small dinner table with two chairs, - \item a trash bin, + \item two trash bins, \item an open cupboard or small table with a television and remote control, \item a cupboard with drawers, and \item a bookcase or shelf with doors and some books inside @@ -162,14 +162,17 @@ \subsection{List of Predefined Objects} \begin{itemize} \item \textbf{\iterm{Tableware}:} Dish, bowl, cup (or mug), and napkin. \item \textbf{\iterm{Cutlery}:} Fork, knife, and spoon. + \item \textbf{\iterm{Trash Bags}:} Big plastic trashbags, preferrably with handle. \item \textbf{\iterm{Bags}:} Lightweight. With stiff, vertical handles. \item \textbf{\iterm{Disks or books}:} A set of 10 discs (LP, CD, DVD, or BluRay) or books, all of the same kind. + \item \textbf{\iterm{Coat rack}:} A rack or pole to hang coats and other clothes. \item \textbf{\iterm{Trays}:} A transport object like a tray or basket. Intended for two-handed manipulation. - \item \textbf{\iterm{Pourable}:} An object whose content can be poured (e.g. muesli, cereal, etc.). - \item \textbf{\iterm{Heavy object}:} Weight between 1.0kg and 1.5kg). - \item \textbf{\iterm{Tiny object}:} A lightweight object with no bigger than 5cm (e.g. paper, teabag, pen). - \item \textbf{\iterm{Fragile object}:} An easy-to-break object, (e.g. chocolate egg). - \item \textbf{\iterm{Amorphous object}:} An flexible object that may take an infinite number of shapes (e.g. cloth, magnetic puzzle, etc.). + \item \textbf{\iterm{Pourable}:} An object whose content can be poured (e.g.~muesli, cereal, etc.). + \item \textbf{\iterm{Heavy object}:} Weight between 1.0kg and 1.5kg. + \item \textbf{\iterm{Tiny object}:} A lightweight object with no bigger than 5cm (e.g.~paper, teabag, pen). + \item \textbf{\iterm{Fragile object}:} An easy-to-break object, (e.g.~chocolate egg). + \item \textbf{\iterm{Amorphous object}:} An flexible object that may take an infinite number of shapes (e.g.~cloth, magnetic puzzle, etc.). + \item \textbf{\iterm{Garbage bag}:} A tie-able garbage bag. \end{itemize} \paragraph*{Important note:} It is not allowed to modify any of the objects provided for training. diff --git a/introduction/Awards.tex b/introduction/Awards.tex index 3d77e343..8766ce70 100644 --- a/introduction/Awards.tex +++ b/introduction/Awards.tex @@ -56,6 +56,13 @@ \subsection{Best Poster} % % As with the innovation award, the award for winning the Technical Challenge is not given in case no team shows a \emph{sufficient performance}. The decision which team wins the Technical Challenge, and if the award is given at all, is conducted by the \iaterm{Technical Committee}{TC}. +\subsection{Open Challenge award} +\label{award:oc} + +To encourage teams to present their research in off-hours of the competition to the rest of the teams, RoboCup@Home grants the \iterm{open challenge award} to the best open demonstration presented during the competition. This award is granted only if there a team has demonstrated innovative research that is related to the global objectives of RoboCup@Home. Thus, this award may be not be granted. + +The \iaterm{Technical Committee}{TC} members from the RoboCup@Home league, with recommendations from team leaders, nominate a set of candidates for the award (a TC member whose team is among the nominees is not allowed to nominate). The \iaterm{Executive Committee}{EC} decides if the award should be granted and elects the winner. + \subsection{Skill Certificates} \label{award:skill} The @Home league features certificates for the robots best at a the skills below: diff --git a/score_sheets.tex b/score_sheets.tex index ece3796f..f6589a25 100644 --- a/score_sheets.tex +++ b/score_sheets.tex @@ -102,96 +102,94 @@ %%% STAGE I %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -\renewcommand{\attempts}{3} - %%% STAGE 1 TESTS GO HERE %%% -% Cocktail Party -\ifSSPL{ - \renewcommand{\currentTest}{Cocktail Party} - \begin{scoresheet} - \input{scoresheets/CocktailParty.tex} - \end{scoresheet} -} +\renewcommand{\currentTest}{Carry my Luggage} +\begin{scoresheet} +\input{scoresheets/CarryMyLuggage} +\end{scoresheet} -% GPSR -\renewcommand{\currentTest}{General Purpose Robot} +\renewcommand{\currentTest}{Clean Up} \begin{scoresheet} -\input{scoresheets/GPSR.tex} +\input{scoresheets/CleanUp} \end{scoresheet} -% Help me carry -\renewcommand{\currentTest}{Help-me-carry} +\renewcommand{\currentTest}{Farewell} \begin{scoresheet} -\input{scoresheets/HelpMeCarry.tex} +\input{scoresheets/Farewell} \end{scoresheet} -% Speech and Person Recognition -\renewcommand{\currentTest}{Speech and Person Recognition} +\renewcommand{\currentTest}{Find my Mates} \begin{scoresheet} -\input{scoresheets/SPR.tex} +\input{scoresheets/FindMyMates} \end{scoresheet} -% Storing Groceries -\ifNotSSPL{ - \renewcommand{\currentTest}{Storing Groceries} - \begin{scoresheet} - \input{scoresheets/StoringGroceries.tex} - \end{scoresheet} -} +\renewcommand{\currentTest}{General Purpose Service Robot} +\begin{scoresheet} +\input{scoresheets/GPSR} +\end{scoresheet} + +\renewcommand{\currentTest}{Receptionist} +\begin{scoresheet} +\input{scoresheets/Receptionist} +\end{scoresheet} + +\renewcommand{\currentTest}{Serving Drinks} +\begin{scoresheet} +\input{scoresheets/ServingDrinks} +\end{scoresheet} + +\renewcommand{\currentTest}{Storing Groceries} +\begin{scoresheet} +\input{scoresheets/StoringGroceries} +\end{scoresheet} + +\renewcommand{\currentTest}{Take out Garbage} +\begin{scoresheet} +\input{scoresheets/TakeOutGarbage} +\end{scoresheet} % %%% STAGE II %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -\renewcommand{\attempts}{2} %%% STAGE 2 TESTS GO HERE %%% - -% EEGPSR -\renewcommand{\currentTest}{EEGPSR} +\renewcommand{\currentTest}{Clean the Table} \begin{scoresheet} -\input{scoresheets/EEGPSR.tex} +\input{scoresheets/CleanTable.tex} \end{scoresheet} -% Open Challenge -\renewcommand{\currentTest}{Open Challenge} +% EGPSR +\renewcommand{\currentTest}{Enhanced General Purpose Service Robot} \begin{scoresheet} -\input{scoresheets/OpenChallenge.tex} +\input{scoresheets/EGPSR.tex} \end{scoresheet} -% Set a table and clean it up -\ifNotSSPL{ - \renewcommand{\currentTest}{Procter \& Gamble Dishwasher Challenge} - \begin{scoresheet} - \input{scoresheets/PnG.tex} - \end{scoresheet} -} +% \renewcommand{\currentTest}{Restaurant} +% \begin{scoresheet} +% \input{scoresheets/Restaurant.tex} +% \end{scoresheet} -% Restaurant -\renewcommand{\currentTest}{Restaurant} +\renewcommand{\currentTest}{Set the Table} \begin{scoresheet} -\input{scoresheets/Restaurant.tex} +\input{scoresheets/SetTable.tex} \end{scoresheet} -% Tour Guide -\ifSSPL{ - \renewcommand{\currentTest}{Tour Guide} - \begin{scoresheet} - \input{scoresheets/TourGuide.tex} - \end{scoresheet} -} - +\renewcommand{\currentTest}{Stickler for Rules} +\begin{scoresheet} +\input{scoresheets/SticklerForRules} +\end{scoresheet} % %%% FINALS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Final (Jury) -\renewcommand{\currentTest}{Final Demonstration -- Jury Evaluation} +\renewcommand{\currentTest}{Final Demonstration --- Jury Evaluation} \begin{scoresheet} \input{scoresheets/FinalsJury.tex} \end{scoresheet} % Final (EC) -\renewcommand{\currentTest}{Final Demonstration -- Executive Committee} +\renewcommand{\currentTest}{Final Demonstration --- Executive Committee} \begin{scoresheet} \input{scoresheets/FinalsExec.tex} \end{scoresheet} diff --git a/scoresheets/CarryMyLuggage.tex b/scoresheets/CarryMyLuggage.tex new file mode 100644 index 00000000..9ff5fc13 --- /dev/null +++ b/scoresheets/CarryMyLuggage.tex @@ -0,0 +1,27 @@ + +The maximum time for this test is 5 minutes. + +\begin{scorelist} + \scoreheading{Main Goal} + \scoreitem{500}{Take the bag to the car} + \penaltyitem{200}{Hand-over the bag} + \penaltyitem[5]{100}{Regain operator's track by natural interaction} + \penaltyitem[5]{200}{Regain operator's track by non-natural interaction} + \penaltyitem[5]{400}{Regain operator's track by direct contact} + + + \scoreheading{Bonus rewards} + \scoreitem{100}{Reentering the arena} + \scoreitem{100}{Avoid the crowd obstructing path} + \scoreitem{100}{Avoid the small object on the ground} + \scoreitem{100}{Avoid the hard-to-see 3D object} + \scoreitem{100}{Avoid the area blocked with retractable barriers} + + % No longer necessary, computes automatically + % \setTotalScore{1000} +\end{scorelist} + + +% Local Variables: +% TeX-master: "Rulebook" +% End: diff --git a/scoresheets/CleanTable.tex b/scoresheets/CleanTable.tex new file mode 100644 index 00000000..ba11471d --- /dev/null +++ b/scoresheets/CleanTable.tex @@ -0,0 +1,23 @@ +The maximum time for this test is 10 minutes. + +\begin{scorelist} + \scoreheading{Main Goal} + \scoreitem{1000}{Place all tableware and cutlery inside the dishwasher} + \penaltyitem[7]{50}{Pointing at object} + \penaltyitem[7]{50}{Handover an object} + \penaltyitem[3]{200}{Bypassing tableware storage} + \penaltyitem[3]{250}{Bypassing cutlery storage} + + \scoreheading{Bonus rewards} + \scoreitem{300}{Opening the dishwasher door} + \scoreitem{300}{Pulling out the dishwasher racks} + \scoreitem{300}{Placing the Cascade Pod inside the dishwasher} + \scoreitem{100}{Autonomously leaving the arena} + + %\setTotalScore{1000} +\end{scorelist} + + +% Local Variables: +% TeX-master: "Rulebook" +% End: diff --git a/scoresheets/CleanUp.tex b/scoresheets/CleanUp.tex new file mode 100644 index 00000000..857db629 --- /dev/null +++ b/scoresheets/CleanUp.tex @@ -0,0 +1,25 @@ + +The maximum time for this test is 5 minutes. + +\begin{scorelist} + \scoreheading{Main Goal} + \scoreitem[5]{100}{Place an object at the appropriate location} + \penaltyitem[5]{-30}{Receiving human help (telling where an object can be found)} + \penaltyitem[5]{-40}{Receiving human help (pointing out object to be moved)} + \penaltyitem[5]{-20}{Receiving human help (Guiding the robot near an object to be moved)} + \penaltyitem[5]{-30}{Receiving human help (telling robot which category an object is or where to place it)} + \penaltyitem[5]{-60}{Receiving human help (physically interacting with object)} + + \scoreheading{Bonus rewards} + \scoreitem{200}{Opening entrance door without human help} + \scoreitem{150}{Moving a \emph{tiny} object} + \scoreitem{150}{Moving a \emph{heavy} object} + + % No longer necessary, computes automatically + % \setTotalScore{1000} +\end{scorelist} + + +% Local Variables: +% TeX-master: "Rulebook" +% End: diff --git a/scoresheets/EEGPSR.tex b/scoresheets/EEGPSR.tex deleted file mode 100644 index a1289236..00000000 --- a/scoresheets/EEGPSR.tex +++ /dev/null @@ -1,37 +0,0 @@ -The maximum time for this test is 45 minutes. \\ -Total team time is 15 minutes, with 5 minutes to execute each command. -% -% MAURICIO 2017 -% Compact Scoresheet -% -\begin{scorelist} - % Max 30 - \scoreheading{Getting instructions\footnotemark} - \scoreitem[3]{10}{Understanding the command on the $1^{st}$ attempt} - \scoreitem[3]{ 5}{Understanding the command on the $1^{st}$ attempt (Custom Operator)} - - \scoreheading{Complete Command Successfully Solved} % Max 50 - \scoreitem{ 30}{Command Category I} - \scoreitem{ 50}{Command Category II/III} - - \scoreheading{Incomplete Command Successfully Solved} % Max 100 - \scoreitem{ 50}{Command Category I} - \scoreitem{ 80}{Command Category II/III} - \scoreitem{ 20}{Retrieving missing information} - - \scoreheading{Erroneous Command Successfully Solved} % Max 120 - \scoreitem{ 70}{Command Category I} - \scoreitem{100}{Command Category II/III} - \scoreitem{ 20}{Explain nature of error (regardless command execution)} - - % \scoreheading{Leave the arena} - % \scoreitem{10}{Leave the arena after successfully accomplishing a command} - - \setTotalScore{300} -\end{scorelist} - -\footnotetext{\textbf{Remark:} Points for command retrieval are only granted if the robot actively tries to solve the task.} - -% Local Variables: -% TeX-master: "Rulebook" -% End: diff --git a/scoresheets/EGPSR.tex b/scoresheets/EGPSR.tex new file mode 100644 index 00000000..b3a678b4 --- /dev/null +++ b/scoresheets/EGPSR.tex @@ -0,0 +1,20 @@ +The maximum time for this test is 10 minutes. + +\begin{scorelist} + \scoreheading{Main Goal} + \scoreitem[3]{500}{Perform each task} + \penaltyitem[3]{150}{Using custom operator or bypassing ASR} + + \scoreheading{Bonus rewards} + \scoreitem[3]{150}{Understand command given by naive operator} + \scoreitem[3]{100}{Provide audio recording and transcript} + \scoreitem{150}{Find the operator when called} + \scoreitem{100}{Autonomously leaving the arena} + + %\setTotalScore{1000} +\end{scorelist} + + +% Local Variables: +% TeX-master: "Rulebook" +% End: diff --git a/scoresheets/Farewell.tex b/scoresheets/Farewell.tex new file mode 100644 index 00000000..445ee226 --- /dev/null +++ b/scoresheets/Farewell.tex @@ -0,0 +1,24 @@ + +The maximum time for this test is 5 minutes. + +\begin{scorelist} + \scoreheading{Main Goal} + \scoreitem[2]{300}{Each guest successfully guided to her cab} + \penaltyitem[2]{30}{Tell the robot which guest is leaving} + \penaltyitem[2]{120}{Guiding the robot to the cab} + \penaltyitem[2]{120}{Guiding the robot back to the house} + + + \scoreheading{Bonus rewards} + \scoreitem[2]{150}{Delivering the right coat} + \penaltyitem[2]{100}{Handover the coat} + \scoreitem{100}{Identifying the female person} + + % No longer necessary, computes automatically + % \setTotalScore{1000} +\end{scorelist} + + +% Local Variables: +% TeX-master: "Rulebook" +% End: diff --git a/scoresheets/FinalsExec.tex b/scoresheets/FinalsExec.tex index c482402a..5dbf86dd 100644 --- a/scoresheets/FinalsExec.tex +++ b/scoresheets/FinalsExec.tex @@ -23,15 +23,15 @@ \begingroup \newcommand\tableTEAMS{} -\def\do#1{\appto\tableTEAMS{#1 & & & & \\\hline}}% +\def\do#1{\appto\tableTEAMS{#1 & & & & \\\hline}}% \expandafter\docsvlist\expandafter{\TEAMSFINALS} \begin{tabular}{|l|c|c|c|c|} \hline \multirow{3}{*}{Team} - & Scientific & Contribution & Relevance for @Home/ & Presentation \& \\ - & contribution & to @Home & Novelty of approaches & Performance (demo) \\ - & (0-10) & (0-10) & (0-10) & (0-10) \\ + & Efficacy of & Elegance of & Innovation/contribution & Difficulty/Success of \\ + & solution to main objective & solution to main objective & of additional tasks & overall demonstration \\ + & (0-10) & (0-10) & (0-10) & (0-10) \\ \hline \hline \tableTEAMS diff --git a/scoresheets/FinalsJury.tex b/scoresheets/FinalsJury.tex index 4da31b21..c7644ad0 100644 --- a/scoresheets/FinalsJury.tex +++ b/scoresheets/FinalsJury.tex @@ -14,15 +14,15 @@ \begingroup \newcommand\tableTEAMS{} -\def\do#1{\appto\tableTEAMS{#1 & & & & \\\hline}}% +\def\do#1{\appto\tableTEAMS{#1 & & & & \\\hline}}% \expandafter\docsvlist\expandafter{\TEAMSFINALS} \begin{tabular}{|l|c|c|c|c|} \hline \multirow{3}{*}{Team} - & Originality and & Usability / Human- & Usefulness & Difficulty \\ - & presentation${}^\star$ & Robot Interaction & for daily life & \& Success \\ - & (0-10) & (0-10) & (0-10) & (0-10) \\ + & Originality and & Relevance/usefulness to & Elegance of & Success of \\ + & presentation${}^\star$ & everyday life & overall demonstration & overall demonstration \\ + & (0-10) & (0-10) & (0-10) & (0-10) \\ \hline \hline \tableTEAMS diff --git a/scoresheets/FindMyMates.tex b/scoresheets/FindMyMates.tex new file mode 100644 index 00000000..0586afdf --- /dev/null +++ b/scoresheets/FindMyMates.tex @@ -0,0 +1,20 @@ + +The maximum time for this test is 5 minutes. + +\begin{scorelist} + \scoreheading{Main Goal} + \scoreitem[2]{100}{Report a guest location} + \scoreitem[2]{150}{Provide description of a guest} + + \scoreheading{Bonus rewards} + \scoreitem{200}{Report the 3rd guest location} + \scoreitem{300}{Provide description of a 3rd guest} + + % No longer necessary, computes automatically + % \setTotalScore{1000} +\end{scorelist} + + +% Local Variables: +% TeX-master: "Rulebook" +% End: diff --git a/scoresheets/GPSR.tex b/scoresheets/GPSR.tex index 0eca0142..58e61116 100644 --- a/scoresheets/GPSR.tex +++ b/scoresheets/GPSR.tex @@ -1,71 +1,18 @@ -The maximum time for this test is 10 minutes. -% -% MAURICIO 2017 -% Compact Scoresheet -% -\begin{scorelist} - \scoreheading{Getting instructions\footnotemark} - \scoreitem[3]{10}{Understanding the command on the $1^{st}$ attempt} - \scoreitem[3]{ 5}{\small Understanding the command on the $1^{st}$ attempt (Custom Operator)} - \scoreitem[3]{ 1}{Understanding the command at a later attempt} - - \scoreheading{First Command Successfully Solved} - \scoreitem{ 10}{Command Category I} - \scoreitem{ 20}{Command Category II} - \scoreitem{ 30}{Command Category III} - - \scoreheading{Second Command Successfully Solved} - \scoreitem{ 20}{Command Category I} - \scoreitem{ 40}{Command Category II} - \scoreitem{ 60}{Command Category III} +The maximum time for this test is 5 minutes. - \scoreheading{Third Command Successfully Solved} - \scoreitem{ 40}{Command Category I} - \scoreitem{ 80}{Command Category II} - \scoreitem{120}{Command Category III} +\begin{scorelist} + \scoreheading{Main Goal} + \scoreitem[3]{250}{Perform each task} + \penaltyitem[3]{50}{Using custom operator or bypassing ASR} - \scoreheading{Leave the arena} - \scoreitem{10}{Leave the arena after successfully accomplishing a command} + \scoreheading{Bonus rewards} + \scoreitem[3]{100}{Understand command given by naive operator} + \scoreitem[3]{100}{Provide audio recording and transcript} + \scoreitem{150}{Autonomously leaving the arena} - \setTotalScore{250} + %\setTotalScore{1000} \end{scorelist} -\footnotetext{\textbf{Remark:} Points for command retrieval are only granted if the robot actively tries to solve the task.} - -% -% MAURICIO 2017 -% Alternate Scoresheet in case people can't understand the compact one -% -% \begin{scorelist} -% \scoreheading{First Command} -% \scoreitem{ 10}{Understanding the command on the $1^{nd}$ attempt} -% \scoreitem{ 5}{Understanding the command on the $1^{st}$ attempt (Custom Operator)} -% \scoreitem{10}{Command Category I} -% \scoreitem{20}{Command Category II} -% \scoreitem{30}{Command Category III} -% -% \scoreheading{Second Command} -% \scoreitem{ 10}{Understanding the command on the $1^{nd}$ attempt} -% \scoreitem{ 5}{Understanding the command on the $1^{st}$ attempt (Custom Operator)} -% \scoreitem{10}{Command Category I} -% \scoreitem{20}{Command Category II} -% \scoreitem{30}{Command Category III} -% \scoreitem[2]{1}{Successful execution of previous command} -% -% \scoreheading{Third Command} -% \scoreitem{ 10}{Understanding the command on the $1^{nd}$ attempt} -% \scoreitem{ 5}{Understanding the command on the $1^{st}$ attempt (Custom Operator)} -% \scoreitem{10}{Command Category I} -% \scoreitem{20}{Command Category II} -% \scoreitem{30}{Command Category III} -% \scoreitem[2]{0}{Successful execution of one previous command} -% \scoreitem[4]{0}{Successful execution of ALL previous commands} -% -% \scoreheading{Leave the arena} -% \scoreitem{10}{Leave the arena after successfully accomplishing a command} -% -% \setTotalScore{250} -% \end{scorelist} % Local Variables: % TeX-master: "Rulebook" diff --git a/scoresheets/HelpMeCarry.tex b/scoresheets/HelpMeCarry.tex deleted file mode 100644 index 8db3d514..00000000 --- a/scoresheets/HelpMeCarry.tex +++ /dev/null @@ -1,53 +0,0 @@ -The maximum time for this test is 5 minutes. - -{\footnotesize -\begin{scorelist} - \scoreheading{Following Phase} % 30 pts - \scoreitem{10}{Follow operator outside the arena} - \scoreitem{15}{Follow operator to the car} - \scoreitem{ 5}{Understand the destination} - -\ifNotSSPL{ - % These are mutually exclusive, max score is thus 20 - \scoreheading{Bag pick-up (OPL \& DSPL only)} - \scoreitem{+0}{Bag hanged. Gripper closes on timeout} - \scoreitem{ 2}{Bag hanged. Gripper closes on hang} - \scoreitem{ 5}{Pick up the bag from the floor} - \scoreitem{10}{Scripted handover (hand/bag detection only)} - \scoreitem{20}{Natural handover (active grasping + object release detection)} - - \scoreheading{DSPL \& OPL Tasks} % 80 pts - \scoreitem{10}{Re-enter the arena} - \scoreitem{ 5}{Deliver the bag at the specified location} - \scoreitem{10}{Find the person at the specified location} - \scoreitem{30}{Open door without help} - \scoreitem{10}{Guide operator outside the arena} - \scoreitem{15}{Guide operator to the car} -} - -\ifSSPL{ - \scoreheading{SSPL only Tasks} % 100 pts - \scoreitem{10}{Tell the time to the stranger} - \scoreitem{30}{Re-enter the arena} - \scoreitem{20}{Find the person at the specified room} - \scoreitem{10}{Guide operator outside the arena} - \scoreitem{30}{Guide operator to the car} -} - - \scoreheading{Obstacle avoidance} % 70 pts - \scoreitem{20}{Avoiding small (box-sized) object} - \scoreitem{20}{Avoiding 3D (hard-to-see) object} -\ifSSPL{% - \scoreitem{30}{[SSPL] Asking a person to step aside (\textit{smart} obstacle)} -}% -\ifNotSSPL{% - \scoreitem{30}{[DSPL \& OPL] Moving away movable object} -}% - - \setTotalScore{200} -\end{scorelist} -} - -% Local Variables: -% TeX-master: "Rulebook" -% End: diff --git a/scoresheets/Receptionist.tex b/scoresheets/Receptionist.tex new file mode 100644 index 00000000..c7e96b16 --- /dev/null +++ b/scoresheets/Receptionist.tex @@ -0,0 +1,20 @@ +The maximum time for this test is \textbf{5 minutes}. + +\begin{scorelist} + \scoreheading{Main Goal} + \scoreitem{100}{Introduce the 1st guest to John} + \scoreitem{150}{Offer an empty seat to the 1st guest} + \scoreitem{100}{Introduce the 2nd guest to John and 1st guest} + \scoreitem{150}{Offer an empty seat to the 2nd guest} + \penaltyitem[2]{50}{Misunderstanding the name of a guest} + + \scoreheading{Bonus rewards} + \scoreitem[2]{200}{Opening the entrance door to a guest} + \scoreitem{100}{Sitting the oldest person on a sofa} + +\end{scorelist} + + +% Local Variables: +% TeX-master: "Rulebook" +% End: diff --git a/scoresheets/ServingDrinks.tex b/scoresheets/ServingDrinks.tex new file mode 100644 index 00000000..52354537 --- /dev/null +++ b/scoresheets/ServingDrinks.tex @@ -0,0 +1,18 @@ +The maximum time for this test is \textbf{5 minutes}. + +\begin{scorelist} + \scoreheading{Main Goal} + \scoreitem[3]{250}{Deliver a drink to a guest} + \penaltyitem[3]{100}{Each guest approaching to the robot to place order} + \penaltyitem[3]{50}{Each guest waving or calling the robot to place order} + \penaltyitem[2]{100}{Telling the robot which drink is unavailable} + + \scoreheading{Bonus rewards} + \scoreitem{250}{Inform a guest of drink unavailability upon request} + +\end{scorelist} + + +% Local Variables: +% TeX-master: "Rulebook" +% End: diff --git a/scoresheets/SetTable.tex b/scoresheets/SetTable.tex new file mode 100644 index 00000000..10a22ac3 --- /dev/null +++ b/scoresheets/SetTable.tex @@ -0,0 +1,23 @@ +The maximum time for this test is 10 minutes. + +\begin{scorelist} + \scoreheading{Main Goal} + \scoreitem{1000}{Neatly arrange tableware and cutlery on the table (5 objects)} + \penaltyitem[6]{50}{Pointing at object} + \penaltyitem[6]{50}{Handover an object} + \penaltyitem[3]{200}{Bypassing tableware placement} + \penaltyitem[3]{250}{Bypassing cutlery placement} + + \scoreheading{Bonus rewards} + \scoreitem{250}{Opening the cupboard drawer door} + \scoreitem[5]{100}{Picking an utensil from the cupboard drawer} + \scoreitem{100}{Closing the cupboard drawer} + \scoreitem{150}{Laying a place mat first} + + %\setTotalScore{1000} +\end{scorelist} + + +% Local Variables: +% TeX-master: "Rulebook" +% End: diff --git a/scoresheets/SticklerForRules.tex b/scoresheets/SticklerForRules.tex new file mode 100644 index 00000000..2a7697bd --- /dev/null +++ b/scoresheets/SticklerForRules.tex @@ -0,0 +1,14 @@ + +The maximum time for this test is 10 minutes. + +\begin{scorelist} + \scoreheading{Main Goal} + \scoreitem[3]{250}{Recognize guests breaking rules and ask them to stop} + \scoreheading{Bonus Goal} + \scoreitem[3]{250}{Control if guests stop breaking rules} +\end{scorelist} + + +% Local Variables: +% TeX-master: "Rulebook" +% End: diff --git a/scoresheets/StoringGroceries.tex b/scoresheets/StoringGroceries.tex index 3ddc6f2b..bd9805eb 100644 --- a/scoresheets/StoringGroceries.tex +++ b/scoresheets/StoringGroceries.tex @@ -3,7 +3,7 @@ \begin{scorelist} \scoreheading{Main Goal} - \scoreitem{500}{Move 5 objects next to their peers in the shelf} + \scoreitem[5]{100}{Move an object next to their peers in the shelf} \penaltyitem[5]{-30}{Receiving human help (point at target location)} \penaltyitem[5]{-100}{Receiving human help (move object)} diff --git a/scoresheets/TakeOutGarbage.tex b/scoresheets/TakeOutGarbage.tex new file mode 100644 index 00000000..ac2f13b5 --- /dev/null +++ b/scoresheets/TakeOutGarbage.tex @@ -0,0 +1,23 @@ + +The maximum time for this test is 5 minutes. + +\begin{scorelist} + \scoreheading{Main Goal} + \scoreitem[2]{250}{Move a bag inside the designated zone} + \penaltyitem[2]{-200}{Receiving the bag via handover} + \penaltyitem[2]{-100}{Placing bag outside collection zone} + \penaltyitem[2]{-50}{Tipping a bin / tearing a bag} + + + \scoreheading{Bonus rewards} + \scoreitem[2]{100}{Opening the bin lid} + \scoreitem{300}{Carry both bags at once} + + % No longer necessary, computes automatically + % \setTotalScore{1000} +\end{scorelist} + + +% Local Variables: +% TeX-master: "Rulebook" +% End: diff --git a/setup/macros_score_sheets.tex b/setup/macros_score_sheets.tex index 78aa2f50..bf374ab9 100644 --- a/setup/macros_score_sheets.tex +++ b/setup/macros_score_sheets.tex @@ -6,6 +6,11 @@ % Modif : Mauricio Matamoros % % $Id: macros_score_sheets.tex 429 2013-04-30 10:09:55Z holz $ % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% chktex-file 1 +% chktex-file 15 +% chktex-file 21 +% chktex-file 35 +% chktex-file 44 % %%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % % @@ -388,13 +393,23 @@ } \newcommand{\penaltyitem}[3][1]{% - \@scoreitem[##1]{-\absval{##2}}{##3}% + \ifthenelse{##2 < 0}{% + \@scoreitem[##1]{\absval{##2}}{##3}% + }{% + \@scoreitem[##1]{\absval{-##2}}{##3}% + }% } \newcommand{\bonusitem}[3][1]{% \@scoreitem[##1]{##2}{##3}% } + % Alias of \bonusitem + \newcommand{\scorebonus}[3][1]{\bonusitem[##1][##2][##3]} + + % Alias of \penaltyitem + \newcommand{\scorepenalty}[3][1]{\penaltyitem[##1][##2][##3]} + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Commands for overriding internal calculations %%%%%%%%%%%%%%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -484,7 +499,7 @@ \textbf{\small$3^{rd}$~try}}% }{}% \ifthenelse{##1 > 3}{ - \foreach \i in {4,...,##1}{% + \foreach \i in {4,...,##1}{% chktex11 \protected@xdef\@attemptheadings{% \@attemptheadings &% \textbf{\small$\i^{th}$~try}% diff --git a/tasks/CarryMyLuggage.tex b/tasks/CarryMyLuggage.tex new file mode 100644 index 00000000..95f49384 --- /dev/null +++ b/tasks/CarryMyLuggage.tex @@ -0,0 +1,83 @@ +\section{Carry My Luggage [Party Host]} +The robot helps the operator to carry some luggage to the car which is parked outside. + +% \subsection*{Focus} +% Object identification and manipulation, person-following, and social navigation. + +\subsection*{Main Goal} +The robot helps the operator to carry a bag to the car parked outside. + +\noindent\textbf{Reward:} 500pts. + +\subsection*{Bonus rewards} +\begin{enumerate}[nosep] + \item Reentering the arena (100 pts). + \item Avoid all obstacles (400 pts, 100pts per obstacle). +\end{enumerate} + + +\subsection*{Setup} +\begin{itemize}[nosep] + \item \textbf{Location}: The test takes place inside and outside the arena. + + \item \textbf{Start Location}: The robot starts at a predefined location in the living room. + + \item \textbf{Bags:} At least two bags are placed between nearby the operator (within 2m distance and visible to the robot). + + \item \textbf{Operator}: The operator is standing in front of the robot pointing at the bag to be carried out. + +\end{itemize} + +\subsection*{Additional rules and remarks} +\begin{enumerate}[nosep] + \item \textbf{Deus ex Machina:} Score reduction for requesting human assistance is applied as follows. + \begin{itemize}[nosep] + \item Handing-over the bag (-100 pts). + \item Finding the operator while following her + \begin{itemize}[nosep] + \item Natural interaction (e.g.~wave and calling) 100pts score reduction. + \item Non-natural interaction (e.g.~raising both hands and jumping) 200pts score reduction. + \item Touching the robot (e.g.~pulling the robot's hand) 400pts score reduction. + \end{itemize} + \end{itemize} + + \item \textbf{Obstacles:} The robot will face 4 obstacles along its way in any order: + \begin{enumerate*}[label=(\alph*)] + \item a crowd obstructing path, + \item a small object on the ground, + \item a hard-to-see 3D object, + and + \item a small area blocked using retractable barriers. + \end{enumerate*} + + \item \textbf{Car Location:} There is no car outside. Instead, a fixed location is supposed as a car location outside the arena. + + \item \textbf{Reaching the Car:} The robot can reach the car's location only by following the operator. + + \item \textbf{Following the Operator:} The robot should indicate the operator when it is ready to follow. The operator walks naturally towards the car. After reaching the car, the operator takes the bag back from the robot and thanks the robot. + +\end{enumerate} + + +\subsection*{Referee instructions} + +The referees need to +\begin{itemize}[nosep] + \item Select one volunteer as the operator. + \item Select three to four people to obstruct robot's path outside. + \item Choose bags' positions and assign a bag to the operator. + \item Choose which obstacles the robot will face outside while following the operator. + \item Choose the car's location. + \item Mind the robot when it goes outside the arena. +\end{itemize} + +\subsection*{OC instructions} + +2h before test: +\begin{itemize}[nosep] + \item Select and announce the robot's starting point. + \item Select which bags will be used. +\end{itemize} + +\subsection*{Score sheet} +\input{scoresheets/CarryMyLuggage.tex} diff --git a/tasks/CleanTable.tex b/tasks/CleanTable.tex index 3fdf0f34..07685b3b 100644 --- a/tasks/CleanTable.tex +++ b/tasks/CleanTable.tex @@ -1,15 +1,15 @@ \section{Clean the Table [Housekeeper]} The robot has to remove all dishes from a table (presumably after dinner) and place them into the dishwasher. -% \subsection{Focus} +% \subsection*{Focus} % This test focuses on object perception, manipulation, and planning. -\subsection{Main Goal} -All the tableware and cutlery is inside the dishwasher. +\subsection*{Main Goal} +All the tableware and cutlery on the table is placed inside the dishwasher. \noindent\textbf{Reward:} 1000pts -\subsection{Bonus rewards} +\subsection*{Bonus rewards} \begin{enumerate}[nosep] \item Opening the dishwasher door (300pts) \item Pulling out the dishwasher racks (300pts) @@ -17,7 +17,7 @@ \subsection{Bonus rewards} \item Leaving the arena (100pts) \end{enumerate} -\subsection{Setup} +\subsection*{Setup} \begin{itemize}[nosep] \item \textbf{Location:} This test takes place in the arena. A dining table is located close to the dishwasher. \item \textbf{Tray:} A plastic tray is located either on top of the dishwasher, or onto one of its racks. The tray may have tableware and cutlery placed inside already. @@ -31,18 +31,26 @@ \subsection{Setup} \end{itemize} -\subsection{Additional rules and remarks} +\subsection*{Additional rules and remarks} \begin{enumerate}[nosep] + \item \textbf{Deus ex Machina:} The following reductions apply: + \begin{itemize}[nosep] + \item \textbf{Handover:} Handing over an object causes a score reduction of 100pts. + \item \textbf{Showing objects:} Pointing, or telling to the robot where an object is causes a score reduction of 50pts. + \item \textbf{Placing tableware:} Having a human assistant placing tableware inside the dishwasher causes a score reduction of 200pts. + \item \textbf{Placing cutlery:} Having a human assistant placing cutlery inside the dishwasher causes a score reduction of 250pts. + \end{itemize} + \item \textbf{Safe placing:} Objects must be placed with care. It must be clear that the robot is trying to place the object, not throwing or dropping it. \item \textbf{Dishwasher:} The team decides whether the robot will place the objects in the dishwasher's rack or in the official tray. \item \textbf{Dishwasher door:} The dishwasher door is open and with the racks pulled out by default. - The team leader can, however, request the diswasher to be closed and score additional points for opening it. If the robot fails to open the door, it must clearly state it and request the referee to open it. + The team leader can, however, request the dishwasher to be closed and score additional points for opening it. If the robot fails to open the door, it must clearly state it and request the referee to open it. \end{enumerate} -\subsection{Referee instructions} +\subsection*{Referee instructions} The referee needs to \begin{itemize} @@ -50,7 +58,7 @@ \subsection{Referee instructions} \item Place the tray on the dishwasher or onto the rack, as requested by the team. \end{itemize} -\subsection{OC instructions} +\subsection*{OC instructions} During Setup days: \begin{itemize} \item Provide official cutlery and tableware for training. @@ -63,8 +71,8 @@ \subsection{OC instructions} \end{itemize} % \newpage -% \subsection{Score sheet} -% \input{scoresheets/CleanTable.tex} +\subsection*{Score sheet} +\input{scoresheets/CleanTable.tex} % Local Variables: % TeX-master: "Rulebook" diff --git a/tasks/CleanUp.tex b/tasks/CleanUp.tex index 55dc2364..dc67df84 100644 --- a/tasks/CleanUp.tex +++ b/tasks/CleanUp.tex @@ -1,67 +1,71 @@ \section{Clean Up [Housekeeper]} -The robot has to clean the room from the house it has been told to clean up. +Inside one room in the arena are some misplaced objects. The robot has to tidy up that room, throwing to the garbage the unrecognized ones. -% \subsection{Focus} +% \subsection*{Focus} % This test focuses on object perception, manipulation, and planning. -\subsection{Main Goal} -Upon entrance, the robot requests the operator which room shall be cleaned. -All misplaced known objects found in this room must be taken to their predefined locations and unknown objects thrown to the trash bin. +\subsection*{Main Goal} +Find all misplaced objects objects in a room and bring them to their predefined locations. \noindent\textbf{Reward:} 500pts (100pts per object). -\subsection{Bonus rewards} +\subsection*{Bonus Rewards} \begin{enumerate}[nosep] - \item Opening the entrance door (200pts) - \item Moving a \emph{tiny} object (100pts) - \item Moving a \emph{heavy} object (100pts) - \item Leaving the arena (100pts) + \item Opening the entrance door autonomously (200pts) + \item Moving a \emph{tiny} object (150pts) + \item Moving a \emph{heavy} object (150pts) \end{enumerate} -\subsection{Setup} +\subsection*{Setup} \begin{itemize}[nosep] \item \textbf{Location:} A random room in the arena. + \item \textbf{Instruction:} Nearby the entrance, an operator tells the robot which room to clean. + \item \textbf{Objects:} There are 5--10 misplaced objects at random locations in the room. +\end{itemize} - \item \textbf{Objects:} There are 5 objects placed at random locations in the room. +\subsection*{Additional Rules and Remarks} +\begin{enumerate}[nosep] + \item \textbf{Objects:} Objects can be anywhere, including the floor, seats, and on furniture. - All objects are visible from at least 1.0m distance (i.e. no occlusions) and have the following distribution: + All objects are clearly visible (i.e.~no occlusions) and can be: \begin{itemize}[nosep] - \item\textit{Known objects}: Any two regular and two alike objects. - \item\textit{Unknown objects}: One unknown object at grasping distance (i.e. no decorations). + \item\textit{Known objects}: Regular and alike objects. + \item\textit{Unknown objects}: Garbage lying around at grasping distance (2--3 objects). \end{itemize} -\end{itemize} -\subsection{Additional rules and remarks} -\begin{enumerate}[nosep] \item \textbf{Deus ex Machina:} Score reduction for requesting human assistance is applied per object as follows: \begin{itemize}[nosep] - \item \textbf{Verbal object location disclosure:} Telling the robot where an object can be found causes a reduction of 30\% in scoring for that particular object. + \item Telling the robot where an object can be found causes a reduction of 30\% in scoring for that particular object. + + \item Pointing at an object to be picked up causes a reduction of 40\% in scoring for that particular object. - \item \textbf{Pointing at an object location:} Pointing at an object to be picked up causes a reduction of 40\% in scoring for that particular object. - - \item \textbf{Guiding to an object location:} Guiding the robot nearby the location where an object can be found causes a reduction of 20\% in scoring for that particular object. + \item Guiding the robot nearby the location where an object can be found causes a reduction of 20\% in scoring for that particular object. - \item \textbf{Revealing placement location:} Telling the robot where the object should be placed or the object's category causes a reduction of 30\% in scoring for that particular object. + \item Telling the robot where the object should be placed or the object's category causes a reduction of 30\% in scoring for that particular object. - \item \textbf{Object transport and handover:} Having a human physically interacting with an object causes a reduction of 60\% in scoring for that particular object. + \item Having a human physically interacting with an object causes a reduction of 60\% in scoring for that particular object. \end{itemize} - + \item \textbf{Heavy and tiny objects:} Objects used in this test are lightweight and average-sized. The team leader can, however, request a tiny and a heavy object to be used and score additional points for picking them. - - \item \textbf{Bin:} Objects must be placed inside the bin, not thrown or dropped. + + \item \textbf{Bin:} Objects must be placed inside the bin, not thrown or dropped. \end{enumerate} -\subsection{Referee instructions} +\subsection*{Referee instructions} The referee needs to \begin{itemize} \item Place the objects in the room. \item Recover disposed objects from the bin. + \item Ask teams whether they want a heavy or tiny object. \end{itemize} -\subsection{OC instructions} +\subsection*{OC instructions} 2 hours before the test: \begin{itemize} - \item Announce the location where the robot will be instructed. -\end{itemize} \ No newline at end of file + \item Announce the starting location of the robot. +\end{itemize} + +\subsection*{Score sheet} +\input{scoresheets/CleanUp.tex} \ No newline at end of file diff --git a/tasks/EGPSR.tex b/tasks/EGPSR.tex new file mode 100644 index 00000000..809709c4 --- /dev/null +++ b/tasks/EGPSR.tex @@ -0,0 +1,89 @@ +\section{Enhanced General Purpose Service Robot [Housekeeper]} +Similar to a modern smart-speaker, the robot can be asked to do anything, in plain English, from either Stage of this and former rulebooks. + +% \subsection*{Focus} +% This test focuses on the detection and recognition of objects and their features, as well as object manipulation. + +\subsection*{Main Goal} +Execute each of the 3 commands requested by the operator. + +\noindent\textbf{Reward:} 1200pts (500 points per task)\\ + +\subsection*{Bonus rewards} +\begin{enumerate}[nosep] + \item Attend when called (125pts). + \item Understand a command given by naive operator (150pts, each). + \item Provide audio recording and transcript (100pts each). + \item Autonomously leaving the arena (150pts). +\end{enumerate} + +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% +% Setup +% +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +\subsection*{Setup} +\begin{enumerate} + \item \textbf{Location:} The task takes place inside the arena (some commands might require the robot to go out). The arena is in its normal state. + + \item \textbf{Start location:} The robot starts outside the arena. When the door opens, the robot moves towards the \textit{Standby Point}. + + \item \textbf{Operators:} A \emph{professional operator} (i.e.~the referee) commands the robot by default. +\end{enumerate} + +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% +% Additional Rules +% +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +\subsection*{Additional rules and remarks} +\begin{enumerate}[nosep] + \item \textbf{Command Generator:} Tasks will be generated using the official \emph{GPSR Command Generator} available 2 months prior to the competition in the official repository. Commands for EGPSR are either Stage~II tasks, complex commands requiring to perform chains of subtasks in sequence, or \emph{incomplete} commands lacking relevant information to succeed. + + \item \textbf{Naive Operators:} Commands can be issued by a \emph{Naive Operator} who receives a note-card with the summarized command from the referee and rephrases it.\\[0pt] + \textbf{Remark:} Teams attempting to instruct or bias the operator will be disqualified. + + \item \textbf{Custom Operator fallback:} If the robot consistently fails to understand the naive or professional operator (i.e.~3 times), the referee will request a custom operator. + + \item \textbf{Data Recording:} Only when using Naive Operators, a team can get an additional scoring bonus by providing the recording and transcript of the issued commands. + + \item \textbf{Deus ex Machina:} Score reduction applies per given command as follows: + \begin{itemize}[nosep] + \item \textbf{Custom operator:} Providing a custom operator causes 150pts score reduction. + \item \textbf{Further assistance:} Helping a robot to accomplish a task causes 50--400pts score reduction, based on referee criterion and number of bypassed subtasks. + \item \textbf{Bypassing commands:} A robot instructing a human assistant on how to accomplish the whole task receives no points for the command. + \end{itemize} + + \item \textbf{Attending when called:} The robot should approach to the operator when called (e.g.~by saying\textit {Robot, I need help!}). The operator may call the robot from a different room. + + \item \textbf{Robot Standby Point:} At the beginning of the test, and after finishing the first and second command, the robot moves to the \textit{Robot Standby Point}. + + \item \textbf{Leaving the arena:} A bonus scoring of 100pts can be earned if the robot autonomously leaves the arena after successfully executing all three given commands. +\end{enumerate} + +\subsection*{OC instructions} + +\textbf{2 hours before the test} +\begin{itemize} + \item Generate the commands and prepare the note-cards, hiding them from teams. + \item Announce the location of the \emph{Standby Point}. + \item Recruit volunteers to assist during the test. +\end{itemize} + +\textbf{During the test} +\begin{itemize}[nosep] + \item Rearrange the arena to its normal condition. +\end{itemize} + +\subsection*{Referee instructions} +\begin{itemize} + \item Provide the note-cards to the operators. + \item Tell the operator from where to call the robot. +\end{itemize} + +\subsection*{Score sheet} +\input{scoresheets/EGPSR.tex} + +% Local Variables: +% TeX-master: "Rulebook" +% End: diff --git a/tasks/Farewell.tex b/tasks/Farewell.tex index fa9044b5..68045c90 100644 --- a/tasks/Farewell.tex +++ b/tasks/Farewell.tex @@ -1,66 +1,61 @@ \section{Farewell [Party Host]} -It's raining outside. The robot takes tired guests to their cab/über. Ladies go first. - -% \subsection{Focus} -% This test focuses on human detection and recognition, safe navigation and human-robot interaction with unknown people. - -\subsection{Main Goal} Some guests are tired, so they call the robot to retrieve their coat. It's raining outside and there is only one umbrella, so the robot takes the guests one by one to their cab and returns with the umbrella. +% \subsection*{Focus} +% This test focuses on human detection and recognition, safe navigation and human-robot interaction with unknown people. + +\subsection*{Main Goal} +The robot escorts two tired guests to their cab (where the cab driver is standing). \noindent\textbf{Reward:} 600pts (300pts per guest). -\subsection{Bonus rewards} +\subsection*{Bonus rewards} \begin{enumerate}[nosep] - \item Delivering the right coat (150pts each, max 300pts) - \item Identifying the female calling person and escorting her first (100pts) + \item Delivering guest's right coat (150pts each, max 300pts) + \item Identifying the female guest and escorting her first (100pts) \end{enumerate} -\subsection{Setup} +\subsection*{Setup} \begin{itemize} \item \textbf{Location}: The test takes place inside and outside the arena. - Guests are in the living room. - \item \textbf{Start Location}: The robot starts inside the arena at a predefined location near the entrance door. + \item \textbf{Start Location}: The robot starts inside the arena. - \item \textbf{Guests}: Initially there are five people in the living room, three sitting and two standing. - At least two guests are female. - All guests have a name and coat color assigned. - - \item \textbf{Calling guests:} Only two guests are willing to leave. Both guests, male and female, will call the robot by waving or shouting at the same time. + \item \textbf{Guests}: There are five people in the living room, three sitting and two standing. At least two of them are female. \end{itemize} -\subsection{Additional rules and remarks} +\subsection*{Additional rules and remarks} \begin{enumerate}[nosep] - \item \textbf{Partial scoring:} The main task allows partial scoring. - Robot score per guest upon reentering the arena. + \item \textbf{Partial scoring:} The main task allows partial (per guest) scoring. + + \item \textbf{Guests}: All guests have a name and coat color assigned. - \item \textbf{Deus ex Machina:} Score reduction for requesting human assistance is applied per guest as follows. + \item \textbf{Calling the robot}: Guests willing to leave call the robot (e.g.~waving, shouting) simultaneously. + + \item \textbf{Deus ex Machina:} Score reduction is applied per guest as follows. \begin{enumerate}[nosep] - \item \textbf{Indicating leaving guest:} Telling the robot which guest is leaving (e.g. verbally or pointing at her) causes a reduction of 10\% in scoring for that particular guest. + \item \textbf{Indicating leaving guest:} Telling the robot which guest is leaving (e.g.~pointing) causes 30pts of score reduction. - \item \textbf{Guiding to the cab location:} Guiding the robot where the Cab Driver is standing causes a reduction of 40\% in scoring for that particular guest. + \item \textbf{Guiding to the cab location:} Guiding the robot to the cab causes 40pts of score reduction. - \item \textbf{Guiding back to the house:} Guiding the robot back to the house causes a reduction of 40\% in scoring for that particular guest. + \item \textbf{Guiding back to the house:} Guiding the robot back to the arena causes 40pts of score reduction. - \item \textbf{Coat handover:} Handing over a coat to the robot (i.e. no hook off) causes a reduction of 50\% of the scoring bonus. + \item \textbf{Coat handover:} Handing over a coat to the robot (i.e.~no hook off) reduces the bonus to 50pts. \end{enumerate} \item \textbf{Kicking out guests:} Non-calling guests will refuse to leave the house. The robot must confirm that the guest was calling and willing to leave. - - \item \textbf{Identifying the Cab:} There will be no cab, taxi, or any other vehicle parked outside the arena. - The cab location is identifiable by the \emph{Cab Driver}. - \item \textbf{Cab Driver:} The cab driver is an unknown person waving, wearing high-visibility clothing (e.g. fluorescent vest), and standing under an open umbrella. - The distance between the cab driver and the arena cannot exceed 15m. - + \item \textbf{Cab/Taxi:} The cab location is identifiable by a \emph{Cab Driver} wearing high-visibility clothing (e.g.~fluorescent vest) and standing under an open umbrella. + No vehicle is intended to be parked there. + The distance to cab driver cannot exceed 15m. + \item \textbf{Delivering coats:} Coats are hanging on a coat rack near the exit door. - The robot is supposed to autonomously hook off the coats and bring them back to the right person. + The robot must hook off the coats autonomously, and bring them back to the right person. \end{enumerate} -\subsection{Referee instructions} +\subsection*{Referee instructions} The referees need to \begin{itemize} @@ -70,7 +65,7 @@ \subsection{Referee instructions} \item Mind the robot when it goes outside the arena. \end{itemize} -\subsection{OC instructions} +\subsection*{OC instructions} During Setup days \begin{itemize} \item Provide coats for training @@ -84,6 +79,5 @@ \subsection{OC instructions} \item Help to relocate the Cab Driver \end{itemize} -% \newpage -% \subsection{Score sheet} -% \input{scoresheets/Receptionist.tex} +\subsection*{Score sheet} +\input{scoresheets/Farewell.tex} diff --git a/tasks/FindMyMates.tex b/tasks/FindMyMates.tex new file mode 100644 index 00000000..b45a830a --- /dev/null +++ b/tasks/FindMyMates.tex @@ -0,0 +1,60 @@ +\section{Find My Mates [Party Host]} + +The robot fetches the information of the party guests for the operator who knows only the names of the guests. + + +\subsection*{Main Goal} +Report to the operator the description and location of at least two party guests. + +\noindent\textbf{Reward:} 500 points (250pts per guest). + +\subsection*{Bonus rewards} +\begin{enumerate}[nosep] + \item Reporting the location and description of a third guest (500pts). +\end{enumerate} + + +\subsection*{Setup} +\begin{itemize} + \item \textbf{Location}: This test takes place inside the arena in a predefined room (e.g.~living room). + + \item \textbf{People}: There are 4 people distributed along the room. +\end{itemize} + +\subsection*{Additional rules and remarks} +\begin{enumerate}[nosep] + \item \textbf{Deus ex Machina:} Score reduction for requesting human assistance is applied per guest. + \begin{itemize} + \item -75 pts if a person has to wave the robot in order to be found + \item -75 pts if a person has to tell the robot where is she sitting/standing + \item -150 pts if a person has to approach to the robot (e.g.~walk and stand in front of it). + \end{itemize} + + \item \textbf{Reporting:} Points are scored only when the robot goes back to the operator and delivers the report in time. + + \item \textbf{Description of a Person:} The description of each guest should be unique; i.e.~not shared with any other guest. This may include clothing, age, height, complexion, skin-color, hair-color, gender, etc. + + \item \textbf{Location of a Person:} A relative location based of the surroundings (e.g.~\textit{The kid is sitting on the coach}, \textit{The tall man is standing beside the lamp}, etc.). +\end{enumerate} + + +\subsection*{Referee instructions} + +The referees need to +\begin{itemize} + \item Assign names to the guests. + \item Make sure every person has a name. + \item Make sure people stay at the designated place. +\end{itemize} + +\subsection*{OC instructions} + +2h before test: +\begin{itemize} + \item Announce the location where the robot will be instructed. + \item Announce the room in which the test takes place. +\end{itemize} + +% \newpage +\subsection*{Score sheet} +\input{scoresheets/FindMyMates.tex} diff --git a/tasks/GPSR.tex b/tasks/GPSR.tex new file mode 100644 index 00000000..07880129 --- /dev/null +++ b/tasks/GPSR.tex @@ -0,0 +1,83 @@ +\section{General Purpose Service Robot [Housekeeper]} +Similar to a modern smart-speaker, the robot can be asked to do anything from the Stage~I of this rulebook or any previous rulebook. + +% \subsection*{Focus} +% This test focuses on the detection and recognition of objects and their features, as well as object manipulation. + +\subsection*{Main Goal} +Execute each of the 3 commands requested by the operator. + +\noindent\textbf{Reward:} 750pts (250 points per command)\\ + +\subsection*{Bonus rewards} +\begin{enumerate}[nosep] + \item Understand a command given by naive operator (50pts, each). + \item Provide audio recording and transcript (100pts each). + \item Autonomously leaving the arena (150pts). +\end{enumerate} + +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% +% Setup +% +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +\subsection*{Setup} +\begin{enumerate}[nosep] + \item \textbf{Location:} The task takes place inside the arena (some commands might require the robot to go out). The arena is in its normal state. + + \item \textbf{Start location:} The robot starts outside the arena. When the door opens, the robot moves towards the \textit{Instruction Point}. + + \item \textbf{Operators:} A \emph{professional operator} (i.e.~the referee) commands the robot to execute a task. +\end{enumerate} + + +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% +% Additional Rules +% +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +\subsection*{Additional rules and remarks} +\begin{enumerate}[nosep] + \item \textbf{Command Generator:} Tasks will be generated using the official \emph{GPSR Command Generator} available 2 months prior to the competition in the official repository. + + \item \textbf{Naive Operators:} Optionally, commands can be issued by a \emph{Naive Operator}, i.e.~a person from the audience with no background on robotics. The referee gives the command to the \emph{Naive Operator}, who will then issue it to the robot (rephrasing is allowed). If the robot consistently fails to understand the naive operator (e.g.~3 times or more), teams can default to a custom operator. + \\[2mm]\textbf{Remark:} Referees are not allowed to instruct naive operators on how to operate the robot. \textbf{Teams attempting to instruct or bias the operator will be disqualified}.\\[2mm] + + \item \textbf{Data Recording:} Only when using Naive Operators, a team can get an additional scoring bonus by providing the recording and transcript of the issued commands. + + \item \textbf{Deus ex Machina:} Score reduction applies per given command as follows: + \begin{itemize}[nosep] + \item \textbf{Custom operator:} Providing a custom operator causes 50pts score reduction. + \item \textbf{Further assistance:} Helping a robot to accomplish a task causes 50--200pts score reduction, based on referee criterion. + \item \textbf{Bypassing commands:} A robot instructing a human assistant on how to accomplish the whole task receives no points for the command. + \end{itemize} + + \item \textbf{Instruction Point:} At the beginning of the test, and after finishing the first and second command, the robot moves to the \textit{Instruction Point}. + + \item \textbf{Leaving the arena:} A bonus scoring of 150pts can be earned if the robot autonomously leaves the arena after successfully executing all three given commands. +\end{enumerate} + +\subsection*{OC instructions} +\textbf{2 hours before the test} +\begin{itemize}[nosep] + \item Pre-generate and conceal commands for the robots. + \item Announce the location of the instruction point. + \item Recruit volunteers to assist during the test. +\end{itemize} +\textbf{During the test} +\begin{itemize}[nosep] + \item Rearrange the arena to its normal condition. +\end{itemize} + +\subsection*{Referee instructions} +\begin{itemize}[nosep] + \item Provide the commands to the operators. +\end{itemize} + + +\subsection*{Score sheet} +\input{scoresheets/GPSR.tex} + +% Local Variables: +% TeX-master: "Rulebook" +% End: diff --git a/tasks/Receptionist.tex b/tasks/Receptionist.tex index 32c45e3c..f6fa5766 100644 --- a/tasks/Receptionist.tex +++ b/tasks/Receptionist.tex @@ -1,43 +1,42 @@ \section{Receptionist [Party Host]} +The robot has to take two arriving guests to the living room, introducing them to each other, and offering the just-arrived guest an unoccupied place to sit. -The robot has to allocate and introduce guests in a party. -% \subsection{Focus} +% \subsection*{Focus} % This test focuses on human detection and recognition, safe navigation and human-robot interaction with unknown people. -\subsection{Main Goal} -The robot has to take two arriving guests to the living room, introducing them to each other, and offering the just-arrived guest an unoccupied place to sit. +\subsection*{Main Goal} +Introduce and allocate two newcomers in a party. \noindent\textbf{Reward:} 500pts (250pts per guest). -\subsection{Bonus rewards} +\subsection*{Bonus rewards} \begin{enumerate}[nosep] - \item Opening the entrance door to a guest (200pts each, max 400pts) - \item Sitting the female guest next to a male guest (100pts) + \item Opening the entrance door to a guest (200pts each) + \item Sit the oldest person on a sofa (100pts) \end{enumerate} -\subsection{Setup} +\subsection*{Setup} \begin{itemize} \item \textbf{Location}: The test takes place in the living room. - Initially there is one person sitting here whom the robot already knows. - This person is referred as \emph{default guest}. + + \item \textbf{John:} John is already known to the robot and is sitting in the living room. \item \textbf{Start Location}: The robot starts inside the arena at a predefined location near the entrance door. - \item \textbf{Guests:} Each guest has assigned a predefined name and a favorite drink. - At least one guest is female. \end{itemize} -\subsection{Additional rules and remarks} +\subsection*{Additional rules and remarks} \begin{enumerate}[nosep] \item \textbf{Deus ex Machina:} Score reduction for requesting human assistance is applied per guest. + \item \textbf{Guests:} Each guest has assigned a predefined name and a favorite drink. At least one guest is female. + \item \textbf{Repeating names:} The robot may ask to repeat the name if it has not understood it. - - \item \textbf{Misunderstood names:} If the robot misunderstands the name, the understood (wrong) name is used in the remainder of this test. - A score reduction of 20\% for that particular guest applies. - + + \item \textbf{Misunderstood names:} If the robot misunderstands the name, the understood (wrong) name is used in the remainder of this test; applying a score reduction of 50pts. + \item \textbf{Knowing guests:} When a guest arrives, the robot must ask that person her name and favorite drink. \item \textbf{Introducing guests:} When introducing guests, the robot must point at the person who is being introduced, stating her name and favorite drink. @@ -48,22 +47,23 @@ \subsection{Additional rules and remarks} \end{enumerate} -\subsection{Referee instructions} +\subsection*{Referee instructions} The referees need to \begin{itemize} - \item Select at least 3 volunteers and assign them name and a favorite drink. + \item Assign name and drink to 3 volunteers. \item Arrange (and re-arrange) people in the living room. \item Open the door when requested by the robot \end{itemize} -\subsection{OC instructions} +\subsection*{OC instructions} 2h before test: \begin{itemize} - \item Select and announce a volunteer as \emph{default guest} + \item Announce the location where the robot starts. + \item Select and announce a volunteer as \emph{John} \end{itemize} % \newpage -% \subsection{Score sheet} -% \input{scoresheets/Receptionist.tex} +\subsection*{Score sheet} +\input{scoresheets/Receptionist.tex} diff --git a/tasks/ServingDrinks.tex b/tasks/ServingDrinks.tex index cc09d613..3ba5fc3e 100644 --- a/tasks/ServingDrinks.tex +++ b/tasks/ServingDrinks.tex @@ -1,22 +1,21 @@ \section{Serving Drinks [Party Host]} The robot has to take orders and deliver drinks. -% \subsection{Focus} +% \subsection*{Focus} % This test focuses on human detection and recognition, safe navigation and human-robot interaction with unknown people. -\subsection{Main Goal} -All people in the party must have a drink of their choice. -The robot must find all 3 people who has no drink and bring them the one of their choice. +\subsection*{Main Goal} +Deliver a drink to all people without one. \noindent\textbf{Reward:} 750pts (250pts per delivered drink). -\subsection{Bonus rewards} +\subsection*{Bonus rewards} \begin{enumerate}[nosep] \item Preemptively informing a guest that the ordered drink is not available (250pts) \end{enumerate} -\subsection{Setup} +\subsection*{Setup} \begin{itemize} \item \textbf{Location}: The test takes place in the living room. Initially there is one person sitting here whom the robot already knows. @@ -30,24 +29,24 @@ \subsection{Setup} \item \textbf{Bar:} The bar can be any flat surface where objects can be placed, in any other room but the living room. All available beverages are on top of the bar. One of the drink requests is not available. - + \item \textbf{Bartender:} The Bartender may be standing either behind the bar or next to it, depending on the arena setup. \end{itemize} -\subsection{Additional rules and remarks} +\subsection*{Additional rules and remarks} \begin{enumerate} \item \textbf{Partial scoring:} The main task allows partial scoring. Robot score per correct delivered drink. \item \textbf{Deus ex Machina:} Score reduction for requesting human assistance is applied per guest as follows. \begin{itemize}[nosep] - \item \textbf{Actively placing order:} Approaching to the robot to place an order causes a reduction of 40\% in scoring for that particular guest. + \item \textbf{Actively placing order:} Approaching to the robot to place an order causes a score reduction of 100pts. - \item \textbf{Calling to place order:} Calling (either by shouting or waving) to the robot to place an order causes a reduction of 20\% in scoring for that particular guest. + \item \textbf{Calling to place order:} Calling the robot (either by shouting or waving) to place an order causes a scoring reduction of 50pts. - \item \textbf{Revealing unavailable drink:} Telling the robot which drink is unavailable causes a reduction of 40\% in scoring for that particular guest. + \item \textbf{Revealing unavailable drink:} Telling the robot which drink is unavailable causes a score reduction of 100pts. \end{itemize} \item \textbf{Delivering drinks:} When delivering a drink, the robot must greet the guest by stating her name and remembering the chosen drink. @@ -61,11 +60,11 @@ \subsection{Additional rules and remarks} \item \textbf{Empty arena:} For this task only the robot, the guests, and the Bartender are allowed to be in the arena. \end{enumerate} -\subsection{Referee instructions} +\subsection*{Referee instructions} The referees need to \begin{itemize} - \item Select at least 5 volunteers and assign predefined names. + \item Select at least 5 volunteers and assign predefined names. \item Assign a preferred drink and an alternative to three guests \item Give drinks to the other guests \item Select the person (bartender) who will serve the drinks @@ -73,7 +72,7 @@ \subsection{Referee instructions} \item Make sure one preferred drink is missing \end{itemize} -\subsection{OC instructions} +\subsection*{OC instructions} 2h before test: \begin{itemize} @@ -81,5 +80,5 @@ \subsection{OC instructions} \end{itemize} % \newpage -% \subsection{Score sheet} -% \input{scoresheets/ServingDrinks.tex} +\subsection*{Score sheet} +\input{scoresheets/ServingDrinks.tex} diff --git a/tasks/SetTable.tex b/tasks/SetTable.tex index 91225c22..19ed71d4 100644 --- a/tasks/SetTable.tex +++ b/tasks/SetTable.tex @@ -1,33 +1,24 @@ \section{Set the Table [Housekeeper]} The robot has to set the table (presumably for dinner) for one person. -% \subsection{Focus} +% \subsection*{Focus} % This test focuses on object perception, manipulation, and planning. -\subsection{Main Goal} -Neatly lay tableware and cutlery on the dining table. Knife and spoon go on the right of the dish with the mug or cup in front of them; fork and napkin go on the left side; and the bowl is stacked on top of the dish. - -The following distribution is used: -\begin{itemize}[nosep] - \item\textit{Silverware}: Any two different objects (fork, knife, or spoon). - \item\textit{Tableware}: A dish and any other object (bowl, cup, or mug). - \item\textit{Napkin}: A cloth or paper napkin. -\end{itemize} +\subsection*{Main Goal} +Neatly lay tableware and cutlery on the dining table (5 objects). \noindent\textbf{Reward:} 1000pts - - -\subsection{Bonus rewards} +\subsection*{Bonus rewards} \begin{enumerate}[nosep] - \item Opening the cupboard drawer (300pts) + \item Opening the cupboard drawer (250pts) \item Picking all utensils from the cupboard drawer (100pts each, max 500pts) \item Closing the cupboard drawer (100pts) - \item Laying a place mat first (100pts) + \item Laying a place mat first (150pts) % \item Leaving the arena (100pts) \end{enumerate} -\subsection{Setup} +\subsection*{Setup} \begin{itemize}[nosep] \item \textbf{Location:} This test takes place in the arena, in a table close to the cupboard. \item \textbf{Table:} Chairs may be placed around the table and won't be removed. @@ -36,8 +27,26 @@ \subsection{Setup} \end{itemize} -\subsection{Additional rules and remarks} +\subsection*{Additional rules and remarks} \begin{enumerate}[nosep] + \item \textbf{Deus ex Machina:} The following reductions apply: + \begin{itemize}[nosep] + \item \textbf{Handover:} Handing over an object causes a score reduction of 100pts. + \item \textbf{Showing objects:} Pointing, or telling to the robot where an object is or where to place it causes a score reduction of 50pts. + \item \textbf{Placing tableware:} Having a human assistant placing tableware on the table causes a score reduction of 200pts. + \item \textbf{Placing cutlery:} Having a human assistant placing cutlery on the table causes a score reduction of 250pts. + \end{itemize} + + \item \textbf{Table setup:} Knife and spoon go on the right of the dish with the mug or cup in front of them; fork and napkin go on the left side; and the bowl is stacked on top of the dish. + + The following distribution is used: + \begin{itemize}[nosep] + \item\textit{Silverware}: Any two different objects (fork, knife, or spoon). + \item\textit{Tableware}: A dish and any other object (bowl, cup, or mug). + \item\textit{Napkin}: A cloth or paper napkin. + \end{itemize} + + \item \textbf{Safe placing:} Objects must be placed with care. It must be clear that the robot is trying to place the object, not throwing or dropping it. \item \textbf{Cupboard drawers:} The team decides whether the objects are inside one of the cupboard drawers (and which) or placed on the cupboard. @@ -45,7 +54,7 @@ \subsection{Additional rules and remarks} \end{enumerate} -\subsection{Referee instructions} +\subsection*{Referee instructions} The referee needs to \begin{itemize} @@ -54,7 +63,7 @@ \subsection{Referee instructions} \item Close all open doors and drawers \end{itemize} -\subsection{OC instructions} +\subsection*{OC instructions} During Setup days: \begin{itemize} \item Provide official cutlery and tableware for training. @@ -67,8 +76,8 @@ \subsection{OC instructions} % \end{itemize} % \newpage -% \subsection{Score sheet} -% \input{scoresheets/SetTable.tex} +\subsection*{Score sheet} +\input{scoresheets/SetTable.tex} % Local Variables: % TeX-master: "Rulebook" diff --git a/tasks/SticklerForRules.tex b/tasks/SticklerForRules.tex new file mode 100644 index 00000000..631b0ad6 --- /dev/null +++ b/tasks/SticklerForRules.tex @@ -0,0 +1,73 @@ +\section{Stickler for the Rules (aka RoboCop) [Party Host]} +The robot has to enforce house rules set by the homeowner. + + +\subsection*{Main Goal} +Identify all party guests breaking the house rules and politely ask them to stop. + +\noindent\textbf{Reward:} 750pts (250pts per offender). + +\subsection*{Bonus rewards} +\begin{enumerate}[nosep] + \item Remind offenders the house rules and confirm obedience (750pts, 250pts each). +\end{enumerate} + +\subsection*{Setup} +\begin{itemize}[nosep] + \item \textbf{Location:} This test takes place in the arena. + \item \textbf{Guests:} There are at least 5 party guests inside the arena. +\end{itemize} + + +\subsection{House Rules:} +\begin{enumerate}[nosep] +% \begin{enumerate}[nosep,label=\Roman.~] + \item \textit{No shoes inside the house.}\\ + \textbf{Policy:} All guests have to take off their shoes at the entrance.\\ + \textbf{Action:} Take the guest to the entrance and verify she takes off her shoes. + + \item \textit{Black Room entrance forbidden}\\ + \textbf{Policy:} No guests are allowed in the \emph{Black Room}. + \textbf{Action:} Take the offender with other party guests and verify she doesn't enter back. + + \item \textit{No littering}\\ + \textbf{Policy:} Guests are not allowed to leave garbage on the floor. + \textbf{Action:} Make the (closest) offender to pick up the garbage and throw it into the bin. + + \item \textit{Compulsory hydration}\\ + \textbf{Policy:} All guests must have a drink in hand at all times.\\ + \textbf{Action:} Take the guest to the kitchen/bar and make sure she grabs a drink. +\end{enumerate} + +\subsection*{Additional rules and remarks} +\begin{enumerate}[nosep] + \item \textbf{Offenders:} Three of the guests are breaking rules. + Offenders may not follow the robot's instructions. + + \item \textbf{Confirm law enforcement:} To get the bonus rewards the robot has to state when a guest did or did not follow the given instructions. + +\end{enumerate} + + +\subsection*{Referee instructions} + +The referee needs to +\begin{itemize} + \item Instruct party guests on which rules to break. + \item Assign each party guest a drink +\end{itemize} + +\subsection*{OC instructions} +During Setup days: +\begin{itemize} + \item Announce which room is the \textit{Black Room}. +\end{itemize} + +\newpage +\subsection*{Score sheet} +\input{scoresheets/SticklerForRules.tex} + +% Local Variables: +% TeX-master: "Rulebook" +% End: + diff --git a/tasks/StoringGroceries.tex b/tasks/StoringGroceries.tex index 6ebee885..d4c57cfd 100644 --- a/tasks/StoringGroceries.tex +++ b/tasks/StoringGroceries.tex @@ -1,17 +1,15 @@ \section{Storing Groceries [Housekeeper]} -The robot stores groceries into the shelf next to the objects of the same kind that are already there (e.g. for instance by placing apples near pears and bananas). +The robot stores groceries into a pantry shelf while paying attention to sorting objects in their appropriate place, i.e.~storing an apple next to other fruits. -% \subsection{Focus} +% \subsection*{Focus} % This test focuses on the detection and recognition of objects and their features, as well as object manipulation. -\subsection{Main Goal} -The robot has to move 5 out of 10 objects from a nearby table into the shelf. Objects must be placed next to objects of the same Category or grouped by similarity. +\subsection*{Main Goal} +Move objects 5 from a table into a shelf, grouping them by category or similarity. -\noindent\textbf{Reward:} 500pts\\ +\noindent\textbf{Reward:} 500pts (100pts per object).\\ -\noindent\textbf{HINT:} The robot can ask the referee where to place the carried object (relative positions or pointing are both allowed). - -\subsection{Bonus rewards} +\subsection*{Bonus rewards} \begin{enumerate}[nosep] \item Opening the shelf door (300pts) \item Moving a \emph{tiny} object (100pts) @@ -23,21 +21,18 @@ \subsection{Bonus rewards} % Setup % % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -\subsection{Setup} +\subsection*{Setup} \begin{enumerate} - \item \textbf{Location:} The testing area has a shelf and a table. - The distance between the Table and the Shelf cannot exceed 2 meters. + \item \textbf{Location:} The testing area has a shelf and a table nearby. - \item \textbf{Shelf:} The shelf contains at least 10 objects arranged in groups of 2 or more, either by category or likeliness. - The shelf has at least one free space for starting a new set. + \item \textbf{Shelf:} The shelf contains objects arranged in groups either by category or likeliness. \item \textbf{Shelf door:} The shelf door is open by default. - The team leader can, request the door to be closed and score additional points for opening it. If the robot fails to open the door, it must clearly state it and request the referee to open it. + The team leader can request the door to be closed and score additional points for opening it. If the robot fails to open the door, it must clearly state it and request the referee to open it. \item \textbf{Objects:} Some of the objects are placed behind the door and cannot be accessed unless the door is open. - \item \textbf{Table:} The table can have up to 10 objects, but never less than 5. - In small tables, objects will be added as the robot frees up space. + \item \textbf{Table:} The table has 5--10 objects placed on it and the robot can choose which ones to grasp and in what order. On small tables, objects will be added as the robot frees up space. \end{enumerate} @@ -46,42 +41,36 @@ \subsection{Setup} % Additional Rules % % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -\subsection{Additional rules and remarks} +\subsection*{Additional rules and remarks} \begin{enumerate} - \item \textbf{Clear area:} The robot may assume that the working area is clear, (i.e. can move slightly backwards for its task). - - \item \textbf{Object distribution:} The 10 objects to be moved are evenly distributed in random fashion including - 4 known objects, - 4 alike objects, and - 2 unknown objects. - Among these, the robot will always find - a heavy object, - a tiny object, and - an amorphous object. + \item \textbf{Deus ex Machina:} Score reduction for requesting human assistance is applied per object as follows: + \begin{itemize}[nosep] + \item Telling or pointing out to the robot where to place an object results in a score reduction of 30pts. + \end{itemize} \item \textbf{Table} The table's rough location will be announced beforehand, having its position either left, right, or behind the robot. \end{enumerate} \newpage -\subsection{OC instructions} +\subsection*{OC instructions} \textbf{2 hours before the test} \begin{itemize} - \item Announce which table will be used in the test. + \item Announce which table and shelf will be used in the test. \item Announce a rough location for the table. \end{itemize} -\subsection{Referee instructions} +\subsection*{Referee instructions} The referee needs to \begin{itemize} - \item Place the objects in the shelf, grouping them by likeliness. + \item Place objects in the shelf, grouping them by likeliness. \item Open the door of the shelf. - \item Place objects on the table. + \item Place 5--10 objects on the table. \end{itemize} \newpage -\subsection{Score sheet} +\subsection*{Score sheet} \input{scoresheets/StoringGroceries.tex} % Local Variables: diff --git a/tasks/TakeOutGarbage.tex b/tasks/TakeOutGarbage.tex index 158471b7..eb92007f 100644 --- a/tasks/TakeOutGarbage.tex +++ b/tasks/TakeOutGarbage.tex @@ -1,46 +1,52 @@ -\section{Take Out the Garbage [House Holder]} -The robot has to take out the trash bags from the two bins in the apartment. +\section{Take Out the Garbage [Housekeeper]} +All garbage bins in the apartment are emptied and the garbage has been moved to a specified collection zone. -% \subsection{Focus} +% \subsection*{Focus} % This test focuses on object perception, manipulation, and planning. -\subsection{Main Goal} -All garbage bins in the apartment are empty and the garbage has been moved to the specified collection zone. +\subsection*{Main Goal} +The robot takes out the trash bags from the two bins in the apartment. -\noindent\textbf{Reward:} 600pts (300pts per bag) +\noindent\textbf{Reward:} 500pts (250pts per bag) -\subsection{Bonus rewards} +\subsection*{Bonus rewards} \begin{enumerate}[nosep] - \item Moving a bag to the exterior collection zone (400pts, max one) + \item Removing the lid of a bin. (100pts per bin) + \item Transporting both bags at once. (300pts) \end{enumerate} -\subsection{Setup} +\subsection*{Setup} \begin{itemize}[nosep] - \item \textbf{Location:} This test takes place in the arena and, optionally, in its immediate exterior. - \item \textbf{Bins:} There are two small trash bins in different rooms of the apartment. They are roughly cylindrical and open at the top. The space above the bin will be free of obstructions. The bin may be placed against a wall. + \item \textbf{Location:} This test takes place inside the arena. + \item \textbf{Bins:} There are two small trash bins in different rooms of the apartment. They are roughly cylindrical and open at the top. The space above the bin will be free of obstructions. The bin may be placed against a wall. Bin locations are part of the communicated arena setup. \item \textbf{Bags:} Each bin contains a tied garbage bag with some light contents. The color of the bag is different from the color of the bin. - \item \textbf{Collection Zones:} The interior collection zone is a rectangular region abutting an arena wall and with area not less than 1 square meter. The exterior zone is immediately adjacent to one of the arena entrances with area not less than 1 square meter. + \item \textbf{Collection Zones:} The collection zone is a designated area near the entrance. \end{itemize} -\subsection{Additional rules and remarks} +\subsection*{Additional rules and remarks} \begin{enumerate}[nosep] - \item \textbf{Bag placement:} Bags not placed at least partially within the collection zone are penalized 40\% of their score. - \item \textbf{Manipulation:} Tipping over a bin or tearing the bag will result in a 20\% penalty for the score of that bag. - \item \textbf{Exterior Placement:} The team leader may request that the exterior collection zone be used for a bag. - \item \textbf{Doors}: The arena entrance doors start closed. + \item \textbf{Deus ex Machina:} Score reduction for requesting human assistance is applied per bag as follows: + \begin{itemize}[nosep] + \item Handing a bag over to the robot results in a score reduction of 200pts per bag. + \end{itemize} + + \item \textbf{Bag placement:} Placing a bag outside the collection zone results in a score reduction of 100pts per bag. + \item \textbf{Manipulation:} Tipping over a bin or tearing the bag results in a score reduction of 50pts per bag. + \item \textbf{Closed bins:} The team leader may request to place a lid on one or both of the bins to score the bonus points. \end{enumerate} -\subsection{Referee instructions} +\subsection*{Referee instructions} The referee needs to \begin{itemize} - \item Place the bins in the predefined locations \item Place sealed bags with some light contents in the bins + \item Ask team leader whether bins should be closed. + \item Make sure collection zone is clear. \end{itemize} -\subsection{OC instructions} +\subsection*{OC instructions} During Setup days: \begin{itemize} \item Provide official bins and bags for training. @@ -48,13 +54,11 @@ \subsection{OC instructions} 2 hours before the test: \begin{itemize} - \item Announce the locations of the bins. \item Announce the collection zones. \end{itemize} -% \newpage -% \subsection{Score sheet} -% \input{scoresheets/SetTable.tex} +\subsection*{Score sheet} +\input{scoresheets/TakeOutGarbage.tex} % Local Variables: % TeX-master: "Rulebook" diff --git a/tests/Finals.tex b/tests/Finals.tex index b219e8f3..88dba131 100644 --- a/tests/Finals.tex +++ b/tests/Finals.tex @@ -1,68 +1,52 @@ \chapter{Finals} -The competition ends with the Finals on the last day, where the four teams with the highest total score compete. -The \iterm{Finals} are conducted as a final open demonstration. -This demonstration does not have to be different from the Open Challenge. -It does not have to be the same either. +The competition ends with the Finals on the last day, where the two teams with the highest total score compete. +The \iterm{Finals} are conducted as a final themed demonstration. -To avoid logistical issues during the last day of the competition, the \iterm{Finals} are divided into two sets of demonstrations: the Bronze Competition and the RoboCup @Home Grand Finale. -The Bronze Competition is a set of demonstrations that are carried out before the RoboCup @home Grand Finale. Here, all the leagues run in parallel, with the fourth and third highest scored teams competing for the bronze. -Finally, the two teams with the highest score in each League present their demonstrations in a serialized manner during the RoboCup @Home Grand Finale. +%To avoid logistical issues during the last day of the competition, the \iterm{Finals} are divided into two sets of demonstrations: the Bronze Competition and the RoboCup @Home Grand Finale. +%The Bronze Competition is a set of demonstrations that are carried out before the RoboCup @home Grand Finale. Here, all the leagues run in parallel, with the fourth and third highest scored teams competing for the bronze. +%Finally, the two teams with the highest score in each League present their demonstrations in a serialized manner during the RoboCup @Home Grand Finale. + +Even though each league has its own first, second and third place, the \iterm{Finals} are meant to show the best of all leagues to the jury members as well as the audience and, thus, warrants a single schedule slot. + +\section{Structure and Theme} + +The \iterm{Finals} are a demonstration of achieving an objective that is pre-selected by the TC/EC. These objectives are chosen as a type of yearly theme of the competition, and to provide a baseline for the juries (not to mention the audience) to state which team is the winner. + +The objectives for each league for this year are: + +- OPL/DSPL: the robot serves food to a user. +- SSPL: the robot interacts with a non-expert user naturally. + +The teams are expected to provide a demonstration that is telling a story which includes achieving the objective. The teams can choose freely how to achieve it, which includes choosing the participants, what items to use, the methods employed, etc. The juries, as explained later, will reward elegance and difficulty. + +As it can be seen, the objectives are open enough that a story can be told around them which can include additional objectives that the team wants their robot to also solve. Thus, the teams are welcome to include in their demonstration any additional tasks to be solved, which can serve as a type of forum where they can present their own research. The innovation and success of these tasks will also be used as part of the score (as it is described later). In this regard, it is expected that teams present the scientific and technical contributions they submitted in both \iterm{team description paper} and the \iterm{RoboCup\char64Home Wiki}. + +In addition, teams may provide a printed document to the jury (max 1 page) that summarizes the demonstrated robot capabilities and contributions. However, teams are discouraged to provide any material that would distract from their demonstration. + +Story-telling is an important factor, so it is recommended to spend the least amount of time using the microphone to explain the demonstration and let the demonstration speak for itself. -Even though each league has its own first, second and third place, the RoboCup @Home Grand Finale is meant to show the best of all leagues to the jury members as well as the audience and, thus, warrants a single schedule slot. \section{Evaluating Juries for Final Demonstrations} -Each set of final demonstrations is evaluated by a different combination of evaluating juries, here described. +The \iterm{Finals} are evaluated by two juries, here described. \begin{enumerate} -\item\textbf{League-internal jury:} The league-internal jury is formed by the Executive Committee. -The evaluation of the league-internal jury is based on the following criteria: - \begin{compactenum} - \item Scientific contribution %(maybe taken from the OC) - \item Contribution to @Home %(evaluated by Execs/TC) - \item Relevance for @Home / Novelty of approaches %(evaluated by execs/TC) - \item Presentation and performance in the finals. - \end{compactenum} - -\item \textbf{League-external jury:} The league-external jury consists of people not being involved in the RoboCup@Home league, -but having a related background (not necessarily robotics). -They are appointed by the Executive Committee. -The evaluation of the league-external jury is based on the following criteria: +\item\textbf{League-internal jury:} The league-internal jury is formed by the Executive Committee. The evaluation of the league-internal jury is based on the following criteria: \begin{compactenum} - \item Originality and Presentation - (story-telling is to be rewarded) - \item Usability / Human-robot interaction - \item Multi-modality / System integration - \item Difficulty and success of the performance - \item Relevance / Usefulness for daily life + \item Efficacy/elegance of the solution + \item Innovation/contribution to the league of the additional tasks solved + \item Difficulty of the overall demonstration \end{compactenum} -\item\textbf{Teams-based jury:} The teams-based jury is formed by members of the league's teams. -The evaluation of the teams-based jury is based on the following criteria: +\item \textbf{League-external jury:} The league-external jury consists of people not being involved in the RoboCup@Home league, but having a related background (not necessarily robotics). They are appointed by the Executive Committee. The evaluation of the league-external jury is based on the following criteria: \begin{compactenum} - \item Scientific contribution %(maybe taken from the OC) - \item Contribution to @Home %(evaluated by Execs/TC) - \item Relevance for @Home / Novelty of approaches %(evaluated by execs/TC) - \item Presentation and performance in the finals. + \item Originality and presentation (story-telling is to be rewarded) + \item Relevance/usefulness to everyday life + \item Elegance/success of overall demonstration \end{compactenum} \end{enumerate} - -\section{Bronze Competition (4th and 3rd Highest Scoring Teams)} -The demonstration is evaluated by one member of the league-internal jury, by one member of the league-external jury and by the complete team-based jury. -The final score and ranking are determined by the jury evaluations and by the previous performance (in Stages I and II) of the team, in the following manner: - -\begin{enumerate} - \item The influence of the league-internal jury member to the final ranking is \SI{15}{\percent}. - \item The influence of the league-external jury member to the final ranking is \SI{15}{\percent}. - \item The influence of the teams-based jury to the final ranking is \SI{15}{\percent}. - \item The influence of the total sum of points scored by the team in Stage I and II is \SI{55}{\percent}. -\end{enumerate} - -These demonstrations are carried out in parallel, having each League perform their own Bronze Competition in their own arena at the same time to save time. - -\section{RoboCup@Home Grand Finale (2nd and 1st Highest Scoring Teams)} -The demonstration is evaluated by the complete league-internal and the complete league-external jury. +\section{Scoring} The final score and ranking are determined by the jury evaluations and by the previous performance (in Stages I and II) of the team, in the following manner: \begin{enumerate} @@ -74,10 +58,6 @@ \section{RoboCup@Home Grand Finale (2nd and 1st Highest Scoring Teams)} These demonstrations are carried out in a serialized fashion, one League performing after another in one arena. -\section{Common Description of Final Demonstrations} -Teams can choose freely what to demonstrate, however it is expected that teams present the scientific and technical contributions they submitted in both \iterm{team description paper} and the \iterm{RoboCup\char64Home Wiki}. -In addition, teams may provide a printed document to the jury (max 2 pages) that summarizes the demonstrated robot capabilities and contributions. - \subsection{Task} The procedure for the demonstration and the timing of slots is as follows: \OpenDemonstrationTask{ten}{five} @@ -87,12 +67,20 @@ \subsection{Task} %% %%%%%%%%%%%%%%%%%%%%%%%% \section{Final Ranking and Winner} -The winner of the competition is the team that gets the highest -ranking in the finals. +There will be an award for 1st, 2nd and 3rd place of each league. -There will be an award for 1st, 2nd and 3rd place. All teams in the -Finals receive a certificate stating that they made it into the Finals -of the RoboCup@Home competition. +The winner of the competition is the team that gets the highest ranking in the \iterm{Finals}. + +The second place will be the team that got the second-highest ranking in the \iterm{Finals}. + +The third place will be the team with the highest score that did not made it to the \iterm{Finals}. + +Additional certificates would be granted if: + +\begin{enumerate} + \item If the number of teams in the league is above 11, a certificate will be awarded to the 4th ranked team. + \item If the number of teams in the league is above 14, a certificate will be awarded to the 5th ranked team. +\end{enumerate} % Local Variables: