From 2b4920ff1ed7fde0207664351950e2584ee026df Mon Sep 17 00:00:00 2001 From: Syed Raza <139006@ad.feit.uts.edu.au> Date: Fri, 7 Dec 2018 17:24:40 +1100 Subject: [PATCH 01/64] the description for test find my mates added --- Rulebook.tex | 2 ++ tasks/FindMyMates.tex | 52 +++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 54 insertions(+) create mode 100644 tasks/FindMyMates.tex diff --git a/Rulebook.tex b/Rulebook.tex index 12d8131e..5bba0a27 100644 --- a/Rulebook.tex +++ b/Rulebook.tex @@ -135,6 +135,8 @@ \chapter{Tests in Stage I} \input{tasks/Farewell} \newpage \input{tasks/ServingDrinks} +\newpage +\input{tasks/FindMyMates} % \newpage % \input{tasks/ServingBeverages} diff --git a/tasks/FindMyMates.tex b/tasks/FindMyMates.tex new file mode 100644 index 00000000..422070a3 --- /dev/null +++ b/tasks/FindMyMates.tex @@ -0,0 +1,52 @@ +\section{Find My Mates [Party Host]} + +The robot starts in a room and waits for someone to approach it. The guest knows the name of other guests at the party but doesn’t know how these people look like and where the people are. The robot will gather this information for the guest. + + +\subsection{Main Goal} +The robot provides the location and unique description of 3 guests of the party as required by another guest. + +\noindent\textbf{Reward:} 750 points (250 points per guest). + +\subsection{Bonus rewards} +\begin{enumerate}[nosep] + \item Robot providing unique description of a person without having asked such information (75 points) +\end{enumerate} + + +\subsection{Setup} +\begin{itemize} + \item \textbf{Location}: The robot is in a predefined room at least one person that will approach it. + + \item \textbf{People}: 5 people distributed around the house. +\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. + + \item \textbf{Calling the operator for the final answer:} 50\% reduction if the robot does not go back autonomously to the operator to report the information. + + \item \textbf{Penalty:} If the robot talks to an empty room or does not clearly face a person or crowd when talking (e.g. speaks to a wall), -75 points of penalty. +\end{enumerate} + + +\subsection{Referee instructions} + +The referees need to +\begin{itemize} + \item Make sure there every person has a name. + \item Make sure people stay roughly in the same place. + \item Distribute the people in the rooms. +\end{itemize} + +\subsection{OC instructions} + +2h before test: +\begin{itemize} + \item Announce the location where the robot will be instructed. +\end{itemize} + +% \newpage +% \subsection{Score sheet} +% \input{scoresheets/Receptionist.tex} From 1e83d52d3e2b1a96b0736621fd5603c2729b40aa Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Wed, 16 Jan 2019 13:17:29 +0100 Subject: [PATCH 02/64] some clean up for clean up task --- Rulebook.tex | 2 +- tasks/CleanUp.tex | 67 ----------------------------------------------- tasks/TidyUp.tex | 66 ++++++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 67 insertions(+), 68 deletions(-) delete mode 100644 tasks/CleanUp.tex create mode 100644 tasks/TidyUp.tex diff --git a/Rulebook.tex b/Rulebook.tex index b6ef1d7c..a06f6668 100644 --- a/Rulebook.tex +++ b/Rulebook.tex @@ -59,7 +59,7 @@ \chapter{Tests in Stage I} \label{chap:stage_I} \newpage -\input{tasks/CleanUp} +\input{tasks/TidyUp} \newpage \input{tasks/TakeOutGarbage} \newpage diff --git a/tasks/CleanUp.tex b/tasks/CleanUp.tex deleted file mode 100644 index 55dc2364..00000000 --- a/tasks/CleanUp.tex +++ /dev/null @@ -1,67 +0,0 @@ -\section{Clean Up [Housekeeper]} -The robot has to clean the room from the house it has been told to clean up. - -% \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. - -\noindent\textbf{Reward:} 500pts (100pts per object). - -\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) -\end{enumerate} - - -\subsection{Setup} -\begin{itemize}[nosep] - \item \textbf{Location:} A random room in the arena. - - \item \textbf{Objects:} There are 5 objects placed at random locations in the room. - 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: - \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). - \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 \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 \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 \textbf{Object transport and handover:} 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. -\end{enumerate} - -\subsection{Referee instructions} -The referee needs to -\begin{itemize} - \item Place the objects in the room. - \item Recover disposed objects from the bin. -\end{itemize} - -\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 diff --git a/tasks/TidyUp.tex b/tasks/TidyUp.tex new file mode 100644 index 00000000..fb9daf54 --- /dev/null +++ b/tasks/TidyUp.tex @@ -0,0 +1,66 @@ +\section{Tidy Up a Room} +The robot has to tidy up a room inside the arena. + +% \subsection{Focus} +% This test focuses on object perception, manipulation, and planning. + +\subsection{Main Goal} +Inside one room in the arena are some misplaced objects. The robot has to find each one and bring them to their predefined locations. Unknown objects have to be thrown into the bin. Near the arena entrance will be an operator who can tell the robot which room is messy and will open the entrance door if the robot requests it. + +\noindent\textbf{Reward:} 500pts (100pts per object). + +\subsection{Bonus Rewards} +\begin{enumerate}[nosep] + \item Opening the entrance door autonomously (150pts) + \item Moving a \emph{tiny} object (50pts) + \item Moving a \emph{heavy} object (50pts) +\end{enumerate} + + +\subsection{Setup} +\begin{itemize}[nosep] + \item \textbf{Location:} A random room in the arena. + + \item \textbf{Objects:} There are misplaced objects at random locations in the room. + Objects can be anywhere, including the floor, seats, and on furniture. + All objects are clearly visible (i.e. no occlusions) and can be: + \begin{itemize}[nosep] + \item\textit{Known objects}: Regular and alike objects. + \item\textit{Unknown objects}: Unknown object at grasping distance (i.e. no decorations). + \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 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 Guiding the robot nearby the location where an object can be found causes a reduction of 20\% 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 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. +\end{enumerate} + +\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} +2 hours before the test: +\begin{itemize} + \item Announce the starting location of the robot. +\end{itemize} \ No newline at end of file From 9ffdc4c39af8e193fb7576a0fa6c900c223266d7 Mon Sep 17 00:00:00 2001 From: maximest-pierre Date: Tue, 15 Jan 2019 09:48:54 -0500 Subject: [PATCH 03/64] The TC now have the right to assign more than two slots per teams --- general_rules/Organization.tex | 1 + 1 file changed, 1 insertion(+) diff --git a/general_rules/Organization.tex b/general_rules/Organization.tex index 4d52d484..181e2962 100644 --- a/general_rules/Organization.tex +++ b/general_rules/Organization.tex @@ -39,6 +39,7 @@ \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. From 1d2b6adc737da3acc4fce37d385fcca35473077c Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Fri, 18 Jan 2019 09:08:14 +0100 Subject: [PATCH 04/64] Incorporated feedback: -Renamed to Clean up task -Clarified unknowns as garbage -Scaled bonus points to 500 -Added referee instruction to agree on object distribution --- Rulebook.tex | 2 +- tasks/{TidyUp.tex => CleanUp.tex} | 13 +++++++------ 2 files changed, 8 insertions(+), 7 deletions(-) rename tasks/{TidyUp.tex => CleanUp.tex} (88%) diff --git a/Rulebook.tex b/Rulebook.tex index a06f6668..b6ef1d7c 100644 --- a/Rulebook.tex +++ b/Rulebook.tex @@ -59,7 +59,7 @@ \chapter{Tests in Stage I} \label{chap:stage_I} \newpage -\input{tasks/TidyUp} +\input{tasks/CleanUp} \newpage \input{tasks/TakeOutGarbage} \newpage diff --git a/tasks/TidyUp.tex b/tasks/CleanUp.tex similarity index 88% rename from tasks/TidyUp.tex rename to tasks/CleanUp.tex index fb9daf54..488d1da0 100644 --- a/tasks/TidyUp.tex +++ b/tasks/CleanUp.tex @@ -1,4 +1,4 @@ -\section{Tidy Up a Room} +\section{Clean Up} The robot has to tidy up a room inside the arena. % \subsection{Focus} @@ -11,9 +11,9 @@ \subsection{Main Goal} \subsection{Bonus Rewards} \begin{enumerate}[nosep] - \item Opening the entrance door autonomously (150pts) - \item Moving a \emph{tiny} object (50pts) - \item Moving a \emph{heavy} object (50pts) + \item Opening the entrance door autonomously (200pts) + \item Moving a \emph{tiny} object (150pts) + \item Moving a \emph{heavy} object (150pts) \end{enumerate} @@ -26,7 +26,7 @@ \subsection{Setup} All objects are clearly visible (i.e. no occlusions) and can be: \begin{itemize}[nosep] \item\textit{Known objects}: Regular and alike objects. - \item\textit{Unknown objects}: Unknown object at grasping distance (i.e. no decorations). + \item\textit{Unknown objects}: Garbage lying around at grasping distance. \end{itemize} \end{itemize} @@ -48,12 +48,13 @@ \subsection{Additional Rules and Remarks} \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} The referee needs to \begin{itemize} + \item Agree on distribution of known and unknown objects (i.e. 4/1). \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. From 26de2cdd3027bcea0cb2815eb8b48bff573544a3 Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Fri, 18 Jan 2019 09:53:45 +0100 Subject: [PATCH 05/64] Some rework of take out the garbage task: -Removed collection zone outside the arena -Changed bonus goals to focus more on manipulation and also allow to score very highly with bimanual manipulation -Changed bins to be part of normal arena setup --- tasks/TakeOutGarbage.tex | 25 +++++++++++++------------ 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/tasks/TakeOutGarbage.tex b/tasks/TakeOutGarbage.tex index 158471b7..41c95598 100644 --- a/tasks/TakeOutGarbage.tex +++ b/tasks/TakeOutGarbage.tex @@ -1,34 +1,35 @@ -\section{Take Out the Garbage [House Holder]} +\section{Take Out the Garbage} +\enlargethispage{\baselineskip} %Makes the task fit on one page in current form. Remove if not necessary anymore. The robot has to take out the trash bags from the two bins in the apartment. % \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. +All garbage bins in the apartment are emptied and the garbage has been moved to a specified collection zone. -\noindent\textbf{Reward:} 600pts (300pts per bag) +\noindent\textbf{Reward:} 500pts (250pts per bag) \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} \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} \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{Bag placement:} Bags not placed at least partially within the collection zone are penalized by 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{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} @@ -36,8 +37,9 @@ \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} @@ -48,7 +50,6 @@ \subsection{OC instructions} 2 hours before the test: \begin{itemize} - \item Announce the locations of the bins. \item Announce the collection zones. \end{itemize} From 9c709cf4ecbcd97d5ee33d9d98b2bc4d6bf497ce Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Fri, 18 Jan 2019 10:08:06 +0100 Subject: [PATCH 06/64] Added DEM rule to allow handover of garbage bag --- tasks/TakeOutGarbage.tex | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/tasks/TakeOutGarbage.tex b/tasks/TakeOutGarbage.tex index 41c95598..7a6ca1f4 100644 --- a/tasks/TakeOutGarbage.tex +++ b/tasks/TakeOutGarbage.tex @@ -1,5 +1,4 @@ \section{Take Out the Garbage} -\enlargethispage{\baselineskip} %Makes the task fit on one page in current form. Remove if not necessary anymore. The robot has to take out the trash bags from the two bins in the apartment. % \subsection{Focus} @@ -27,6 +26,11 @@ \subsection{Setup} \subsection{Additional rules and remarks} \begin{enumerate}[nosep] + \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 80\% score reduction for that bag. + \end{itemize} + \item \textbf{Bag placement:} Bags not placed at least partially within the collection zone are penalized by 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{Closed bins:} The team leader may request to place a lid on one or both of the bins to score the bonus points. From aac1a38540dd0cfdc6877ca9c2cf829e19e78392 Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Fri, 18 Jan 2019 12:28:05 +0100 Subject: [PATCH 07/64] Some proposed changes for the storing groceries task: -Remove specific numbers -Moved hint to DEM rules --- tasks/StoringGroceries.tex | 39 ++++++++++++++++---------------------- 1 file changed, 16 insertions(+), 23 deletions(-) diff --git a/tasks/StoringGroceries.tex b/tasks/StoringGroceries.tex index 6ebee885..61c838ad 100644 --- a/tasks/StoringGroceries.tex +++ b/tasks/StoringGroceries.tex @@ -1,15 +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). +\section{Storing Groceries} +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} % 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. +The robot has to move objects from a table into a shelf. Objects must be placed next to objects of the same category or grouped by 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). +%\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} \begin{enumerate}[nosep] @@ -25,19 +25,16 @@ \subsection{Bonus rewards} % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% \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 several objects placed on it and the robot can choose which ones to grasp and in what order. In small tables, objects will be added as the robot frees up space. \end{enumerate} @@ -48,16 +45,12 @@ \subsection{Setup} % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% \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{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 30\% point reduction for that object. + \end{itemize} - \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{Clear area:} The robot may assume that the working area is clear, (i.e. can move slightly backwards for its task). \item \textbf{Table} The table's rough location will be announced beforehand, having its position either left, right, or behind the robot. \end{enumerate} @@ -67,14 +60,14 @@ \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} 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. \end{itemize} From 2ffece1131bc29542d752b9f57dcd69be88a732a Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Fri, 18 Jan 2019 12:56:57 +0100 Subject: [PATCH 08/64] added two bins to general locations and garbage bag to general objects --- general_rules/Scenario.tex | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/general_rules/Scenario.tex b/general_rules/Scenario.tex index 0fb3baa5..023d608f 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 @@ -169,6 +169,7 @@ \subsection{List of Predefined Objects} \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. From ea99a3e0f1ec086ddf3543b52830e4368148e954 Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Fri, 18 Jan 2019 13:50:07 +0100 Subject: [PATCH 09/64] added score sheet for take out the garbage test --- scoresheets/TakeOutGarbage.tex | 21 +++++++++++++++++++++ tasks/TakeOutGarbage.tex | 6 +++--- 2 files changed, 24 insertions(+), 3 deletions(-) create mode 100644 scoresheets/TakeOutGarbage.tex diff --git a/scoresheets/TakeOutGarbage.tex b/scoresheets/TakeOutGarbage.tex new file mode 100644 index 00000000..a0afe946 --- /dev/null +++ b/scoresheets/TakeOutGarbage.tex @@ -0,0 +1,21 @@ + +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} + + + \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/tasks/TakeOutGarbage.tex b/tasks/TakeOutGarbage.tex index 7a6ca1f4..7d4923ba 100644 --- a/tasks/TakeOutGarbage.tex +++ b/tasks/TakeOutGarbage.tex @@ -57,9 +57,9 @@ \subsection{OC instructions} \item Announce the collection zones. \end{itemize} -% \newpage -% \subsection{Score sheet} -% \input{scoresheets/SetTable.tex} +\newpage +\subsection{Score sheet} +\input{scoresheets/TakeOutGarbage.tex} % Local Variables: % TeX-master: "Rulebook" From 3ba9d7f5c30f2c8b18ddac5b02287181854001a7 Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Fri, 18 Jan 2019 13:55:57 +0100 Subject: [PATCH 10/64] added score sheet for clean up task --- scoresheets/CleanUp.tex | 25 +++++++++++++++++++++++++ tasks/CleanUp.tex | 6 +++++- 2 files changed, 30 insertions(+), 1 deletion(-) create mode 100644 scoresheets/CleanUp.tex 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/tasks/CleanUp.tex b/tasks/CleanUp.tex index 488d1da0..140512c4 100644 --- a/tasks/CleanUp.tex +++ b/tasks/CleanUp.tex @@ -64,4 +64,8 @@ \subsection{OC instructions} 2 hours before the test: \begin{itemize} \item Announce the starting location of the robot. -\end{itemize} \ No newline at end of file +\end{itemize} + +\newpage +\subsection{Score sheet} +\input{scoresheets/CleanUp.tex} \ No newline at end of file From 06649c28a0969c662464062a9dd37260b2991881 Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Fri, 18 Jan 2019 13:58:29 +0100 Subject: [PATCH 11/64] updated score sheet for storing groceries --- scoresheets/StoringGroceries.tex | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scoresheets/StoringGroceries.tex b/scoresheets/StoringGroceries.tex index 3ddc6f2b..25e3e8cd 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 objects 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)} From 5d958eb081941fd465613dd654c48a5cc01e4c28 Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Fri, 18 Jan 2019 14:09:34 +0100 Subject: [PATCH 12/64] fixed typo in storing groceries score sheet --- scoresheets/StoringGroceries.tex | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scoresheets/StoringGroceries.tex b/scoresheets/StoringGroceries.tex index 25e3e8cd..bd9805eb 100644 --- a/scoresheets/StoringGroceries.tex +++ b/scoresheets/StoringGroceries.tex @@ -3,7 +3,7 @@ \begin{scorelist} \scoreheading{Main Goal} - \scoreitem[5]{100}{Move an 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)} From d5aa19c8d0128d4251f969cfd6344f5cc583d8cd Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Fri, 18 Jan 2019 14:41:17 +0100 Subject: [PATCH 13/64] added back scenario name --- tasks/StoringGroceries.tex | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tasks/StoringGroceries.tex b/tasks/StoringGroceries.tex index 61c838ad..f8f02864 100644 --- a/tasks/StoringGroceries.tex +++ b/tasks/StoringGroceries.tex @@ -1,4 +1,4 @@ -\section{Storing Groceries} +\section{Storing Groceries [Housekeeper]} 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} From 22d74280ef6c6640266955bd145c7cce93d3221c Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Fri, 18 Jan 2019 14:42:05 +0100 Subject: [PATCH 14/64] added back scenario name to take out garbage test --- tasks/TakeOutGarbage.tex | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tasks/TakeOutGarbage.tex b/tasks/TakeOutGarbage.tex index 7d4923ba..7b1c19bd 100644 --- a/tasks/TakeOutGarbage.tex +++ b/tasks/TakeOutGarbage.tex @@ -1,4 +1,4 @@ -\section{Take Out the Garbage} +\section{Take Out the Garbage [Housekeeper]} The robot has to take out the trash bags from the two bins in the apartment. % \subsection{Focus} From a357a721e8de7c7d6e44002c9aeb623bebda5ca5 Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Fri, 18 Jan 2019 14:42:50 +0100 Subject: [PATCH 15/64] added back scenario name for clean up task --- tasks/CleanUp.tex | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tasks/CleanUp.tex b/tasks/CleanUp.tex index 140512c4..fddbb4fe 100644 --- a/tasks/CleanUp.tex +++ b/tasks/CleanUp.tex @@ -1,4 +1,4 @@ -\section{Clean Up} +\section{Clean Up [Housekeeper]} The robot has to tidy up a room inside the arena. % \subsection{Focus} From c18285a102ddf7c73f17d0623c92e929931f97f4 Mon Sep 17 00:00:00 2001 From: Syed Raza Date: Mon, 21 Jan 2019 13:02:53 +1100 Subject: [PATCH 16/64] Changes to the find my mates test based on the comments on GitHub's pull request #507. --- tasks/FindMyMates.tex | 31 ++++++++++++++++++++----------- 1 file changed, 20 insertions(+), 11 deletions(-) diff --git a/tasks/FindMyMates.tex b/tasks/FindMyMates.tex index 422070a3..342b8d35 100644 --- a/tasks/FindMyMates.tex +++ b/tasks/FindMyMates.tex @@ -1,33 +1,41 @@ \section{Find My Mates [Party Host]} -The robot starts in a room and waits for someone to approach it. The guest knows the name of other guests at the party but doesn’t know how these people look like and where the people are. The robot will gather this information for the guest. +The robot fetches the information of the party guests for the operator who knows only the names of the guests. \subsection{Main Goal} -The robot provides the location and unique description of 3 guests of the party as required by another guest. -\noindent\textbf{Reward:} 750 points (250 points per guest). +The robot reports to the operator the description and location of at least two party guests. + +\noindent\textbf{Reward:} 500 points (150 pts for description and 100 pts for location per guest). \subsection{Bonus rewards} \begin{enumerate}[nosep] - \item Robot providing unique description of a person without having asked such information (75 points) + \item For reporting the third guest, 300 pts for description and 200 pts for location. \end{enumerate} \subsection{Setup} \begin{itemize} - \item \textbf{Location}: The robot is in a predefined room at least one person that will approach it. + \item \textbf{Location}: This test takes place inside the arena in a predefined room (e.g. living room). - \item \textbf{People}: 5 people distributed around the house. + \item \textbf{People}: 4 people distributed in 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{Calling the operator for the final answer:} 50\% reduction if the robot does not go back autonomously to the operator to report the information. + \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 a person may include information about gender, clothing, skin, face, hair, pose, etc. It should be a unique description i.e. not shared with any other guest. - \item \textbf{Penalty:} If the robot talks to an empty room or does not clearly face a person or crowd when talking (e.g. speaks to a wall), -75 points of penalty. + \item \textbf{Description of Location:} The robot provides relative location of a person in the room i.e. with respect to the objects in the room (like, PersonX is sitting on the coach, PersonY is standing beside the lamp, etc.). \end{enumerate} @@ -35,9 +43,8 @@ \subsection{Referee instructions} The referees need to \begin{itemize} - \item Make sure there every person has a name. - \item Make sure people stay roughly in the same place. - \item Distribute the people in the rooms. + \item Make sure every person has a name. + \item Make sure people stay at the designated place. \end{itemize} \subsection{OC instructions} @@ -45,6 +52,8 @@ \subsection{OC instructions} 2h before test: \begin{itemize} \item Announce the location where the robot will be instructed. + \item Assign names to the guests. + \item Announce the room in which the test takes place. \end{itemize} % \newpage From c0e8ebb9fcd0b965da3355196009270af8ac34f1 Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Sun, 27 Jan 2019 14:58:49 +0100 Subject: [PATCH 17/64] Updated README.md - Adds link to Telegram group - Updates changelog - Updates @Home website - Updates Competition website --- README.md | 51 ++++++++++++++++++--------------------------------- 1 file changed, 18 insertions(+), 33 deletions(-) diff --git a/README.md b/README.md index c8cc2a64..7b8272af 100644 --- a/README.md +++ b/README.md @@ -17,38 +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 -(Update required) - -**Finals** -- Bronze Finals: 4th and 3rd match up for the 3rd place trophy - -**Stage 2** -- Open Challenge: - - Score normalized to Stage 2 highest one. - - Evaluation metrics updated. -- Set the Table: Replaced with P&G Challenge -- P&G Challenge: Clean up a table by placing tableware in dishwasher. -- EEGPSR: Reduced number of categories from 8 to 3 - - Three at once, object-related, and people-related - - One of each, normal, incomplete and erroneous commands (given randomly) - -**Stage 1** -- Storing Groceries: - - Per moved object scoring - - Score for opening door increased - - PDF report optional -- Help me carry: Unless crushing, pushing the small object won-t finish the test - -**General Rules** -- DSPL backpack - - DSPL teams can use official laptop in provided backpack -- External Devices: ECRA Rule - - No people around external devices - - Mobile must be removed, others chained - - No keyboards, mouses, or screens attached -- Removed bonus for data recording -- Teams encouraged to provide annotated recording of spoken interactions +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 @@ -92,8 +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 2018 Website [http://robocup2019.org/](http://robocup2019.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/) From 3f7c3d7388dffd733464e61731f7ed75cd7b324a Mon Sep 17 00:00:00 2001 From: Matthijs van der Burgh Date: Sun, 27 Jan 2019 19:27:45 +0100 Subject: [PATCH 18/64] Correct link RoboCup 2019 --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 7b8272af..0d856539 100644 --- a/README.md +++ b/README.md @@ -78,7 +78,7 @@ Data is recorded from the robots during the competition. It is available through - @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 2018 Website [http://robocup2019.org/](http://robocup2019.org/) +- 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/) From 4f1c55cf106c0068afaab8b9e3566d3bb8a14dd0 Mon Sep 17 00:00:00 2001 From: "Justin W. Hart" Date: Mon, 28 Jan 2019 02:21:51 -0600 Subject: [PATCH 19/64] Added the HelpOut task. --- Rulebook.tex | 3 ++ scoresheets/HelpOut.tex | 19 +++++++++ tasks/HelpOut.tex | 86 +++++++++++++++++++++++++++++++++++++++++ 3 files changed, 108 insertions(+) create mode 100644 scoresheets/HelpOut.tex create mode 100644 tasks/HelpOut.tex diff --git a/Rulebook.tex b/Rulebook.tex index b6ef1d7c..d40bed9b 100644 --- a/Rulebook.tex +++ b/Rulebook.tex @@ -83,6 +83,9 @@ \chapter{Tests in Stage II} \newpage \input{tasks/SetTable} +\newpage +\input{tasks/HelpOut} + \newpage \input{tests/Finals} diff --git a/scoresheets/HelpOut.tex b/scoresheets/HelpOut.tex new file mode 100644 index 00000000..49ccdfb4 --- /dev/null +++ b/scoresheets/HelpOut.tex @@ -0,0 +1,19 @@ + +The maximum time for this test is 5 minutes. + +\begin{scorelist} + \scoreheading{Main Goal} + \scoreitem{600}{Perform each task (200 points per task)} + + \scoreheading{Bonus rewards} + \scoreitem{300}{Respond to free-form English commands (100 points per task)} + \scoreitem{50}{Go home} + \scoreitem{50}{Come here} + + \setTotalScore{1000} +\end{scorelist} + + +% Local Variables: +% TeX-master: "Rulebook" +% End: diff --git a/tasks/HelpOut.tex b/tasks/HelpOut.tex new file mode 100644 index 00000000..6b7d20ee --- /dev/null +++ b/tasks/HelpOut.tex @@ -0,0 +1,86 @@ +\section{Help Out [Housekeeper]} +Smart speakers have become a staple device in modern households only a few years after their introduction because they fill a niche for a general assistive device in the home. A clear goal of upcoming domestic service robot technologies is to have a device that aids users in day-to-day tasks. + +% \subsection{Focus} +% This test focuses on the detection and recognition of objects and their features, as well as object manipulation. + +\subsection{Main Goal} +Accept verbal instructions from home occupants and perform those tasks. + +\noindent\textbf{Reward:} 600pts (200 points per task)\\ + +\subsection{Bonus rewards} +\begin{enumerate}[nosep] + \item Free-form English commands. The team may ask the commands to be re-worded from the generated command, in order to test more advanced natural language processing. (100 pts, each) + \item Going home when instructed to do so. The robot must park itself in the home position and successfully come back when requested with, \textit {, I need help!}. (50pts) + \item Coming when called. Robot should come to the same room as the operator when requested with, \textit {, I need help!}. (50pts) +\end{enumerate} + +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% +% Setup +% +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +\subsection{Setup} +\begin{enumerate} + \item \textbf{Home:} An area in the arena is marked as the \textit{home} for the robot, which it goes to when it is not in use. + + \item \textbf{House Residents:} Three people in the arena will give tasks to the robot. + + \item \textbf{Object and Resident Placements:} Residents will instruct the robot to perform tasks in the various rooms of the home. Tasks should be pre-generated and the residents and items should be in the correct places before the round starts. +\end{enumerate} + + +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% +% Setup +% +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +\subsection{Procedure} +\begin{enumerate} + \item \textbf{Tasks} Residents may ask the robot to perform any command from the set of capabilities in all rounds of RoboCup@Home. Tasks will come from the generator. + \item \textbf{Going Home} When requested, the robot should park itself in its \textit{home}. The robot must also wake up to perform the next command. + \item \textbf{Coming When Called} When requested, the robot should come to another room to perform the next command. The requester will be in that room. To bypass this, an operator may give the command, \textit{Go to }. + + +\end{enumerate} + + +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% +% Additional Rules +% +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +\subsection{Additional rules and remarks} +\begin{enumerate} + \item \textbf{Task Generation:} Tasks will be generated using a generator which will be released no fewer than 3 months prior to the competition. +\end{enumerate} + +\newpage +\subsection{OC instructions} + +\textbf{5 hours+ before the test} +\begin{itemize} + \item Choose a home location for the robot and inform teams of this location, +\end{itemize} + +\textbf{2 hours before the test} +\begin{itemize} + \item Generate notecards with tasks on them. Hide from the teams. + \item Recruit home occupants to provide instructions to the robots. +\end{itemize} + +\subsection{Referee instructions} +\begin{itemize} + \item Place people and items in correct starting locations before activating the robot. + \item Speak clearly. Follow all appropriate rules for alternative methods of activating the robot as necessary. +\end{itemize} + + +\newpage +\subsection{Score sheet} +\input{scoresheets/HelpOut.tex} + +% Local Variables: +% TeX-master: "Rulebook" +% End: From 11d1a9f164577ea0c2d4bb3c8672c1040587396d Mon Sep 17 00:00:00 2001 From: Caleb Rascon Date: Mon, 28 Jan 2019 15:03:51 -0600 Subject: [PATCH 20/64] Remove Open Challenge --- Rulebook.tex | 2 +- Setup.tex | 3 ++- general_rules/ExternalDevices.tex | 3 ++- general_rules/Organization.tex | 23 +++++++++++++---------- general_rules/Procedure.tex | 6 ++++-- general_rules/Robots.tex | 3 ++- score_sheets.tex | 9 +++++---- tests/Finals.tex | 2 -- 8 files changed, 29 insertions(+), 22 deletions(-) diff --git a/Rulebook.tex b/Rulebook.tex index f4b1d588..88723d50 100644 --- a/Rulebook.tex +++ b/Rulebook.tex @@ -176,7 +176,7 @@ \chapter{Tests in Stage II} \begin{itshape} All ability and integration tests in \iterm{Stage~II} are performed only once. Some tests have optional tasks that grant additional points when performed correctly, clean and fast. The \iaterm{Technical Committee}{TC} must be informed if a team is planning to perform any of the optional tasks. Unless explicitly stated otherwise, no additional time is given while performing optional tasks. -In the \iterm{Open Challenge} the robot must be able to show to the \iaterm{Technical Committee}{TC} the achievements on the main research line of its own team. This test may grant up to 250 points, never exceeding the maximum scoring achieved in Stage II. +%In the \iterm{Open Challenge} the robot must be able to show to the \iaterm{Technical Committee}{TC} the achievements on the main research line of its own team. This test may grant up to 250 points, never exceeding the maximum scoring achieved in Stage II. \section*{Robot \& team cooperation} We encourage robots and teams to work together when performing tests. 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/general_rules/ExternalDevices.tex b/general_rules/ExternalDevices.tex index ebef8f2d..8d5060c1 100644 --- a/general_rules/ExternalDevices.tex +++ b/general_rules/ExternalDevices.tex @@ -4,7 +4,8 @@ \section{External devices}\label{rule:roobt_external_devices} \item \textbf{Definition:} Everything which is not part of the robot is considered an \iterm{external device}. \item \textbf{Inspection:} In general, external devices are not allowed unless presented and explained to the \iaterm{Technical Committee}{TC} during the \iterm{Robot Inspection} test (see~\refsec{sec:robot_inspection}). \item \textbf{Supervision:} In regular tests, external devices may only be used under supervision by referees and after approval by the TC. The devices have to be brought to the arena for every test, and removed quickly after the test. - \item \textbf{Open demonstrations:} For the \iterm{Open Challenge} and the \iterm{Finals}, external devices are allowed, still their use needs to be announced beforehand. + %\item \textbf{Open demonstrations:} For the \iterm{Open Challenge} and the \iterm{Finals}, external devices are allowed, still their use needs to be announced beforehand. + \item \textbf{Open demonstrations:} For the \iterm{Finals}, external devices are allowed, still their use needs to be announced beforehand. \item \textbf{Wireless devices:} All \iterm{wireless devices} including bluetooth devices, walkie-talkies, and anything else that uses an RF signal to operate need to be announced to the \iaterm{Organizing Committee}{OC}. The use of any wireless device not approved by the TC is strictly prohibited. \item \textbf{Artificial landmarks:} \iterm{Artificial landmarks} and \iterm{markers} are not allowed. \item \textbf{Computing devices:} External computers for decentralized computations are allowed, please see~\refsec{rule:robot_external_computing}. diff --git a/general_rules/Organization.tex b/general_rules/Organization.tex index 734a96eb..cff71987 100644 --- a/general_rules/Organization.tex +++ b/general_rules/Organization.tex @@ -13,7 +13,7 @@ \subsection{Stage system}\label{rule:stages} % MAURICIO @2017: With the inclusion of SPL only 6 teams per league advance to the second stage (leagues are intended to have 13 teams). \item \textbf{Stage~II:} The best \emph{50\% of teams with full integrated capabilities}\footnote{If the total number of teams is less than 12, up to 6 teams may advance to Stage~II} (after Stage~I) advance to \iterm{Stage~II}. Here, more complex abilities or combinations of abilities are tested. In order to advance to Stage~II a team must successfully solve 3 out of \iterm{Proficency Tests} in Stage~I. \\ - The \iterm{Open Challenge} is the open demonstration in Stage~II. + %The \iterm{Open Challenge} is the open demonstration in Stage~II. % MAURICIO @2017: With the inclusion of SPL, we want the finals with no more than 6 teams. At this point, the best two of each league advance to the finals. \item \textbf{Final demonstration:} The best \emph{two teams} of each league, the ones with the highest score after Stage~II, advance to the final round. The final round features only a single open demonstration. \end{enumerate} @@ -80,8 +80,9 @@ \subsection{Score system} \item \textbf{Stage~II:} Test in \iterm{Stage~II} are rewarded on a task-solved scoring basis. \begin{enumerate} - \item Each test but the \iterm{Open Challenge} has a main task. The base score for solving the main task is \scoring{250 points}. - \item The maximum score for \iterm{Open Challenge} is \scoring{250 points}. + %\item Each test but the \iterm{Open Challenge} has a main task. The base score for solving the main task is \scoring{250 points}. + \item Each test has a main task. The base score for solving the main task is \scoring{250 points}. + %\item The maximum score for \iterm{Open Challenge} is \scoring{250 points}. \item Optionals and subtasks add bonus points to the main task score. \end{enumerate} @@ -112,13 +113,15 @@ \subsection{Score system} \subsection{Open Demonstrations} \label{sec:open-demonstrations} \begin{enumerate} - \item \textbf{Stage~II:} The \iterm{Open Challenge} is the open demonstration in \iterm{Stage~II}. - \begin{enumerate} - \item To participate in the \iterm{Open Challenge}, a team needs to participate in at least one regular \iterm{Stage~II} test. - \item Teams can demonstrate freely chosen abilities. - \item The performance is evaluated by a jury consisting of the \iaterm{Technical Committee}{TC}. - \item The \iterm{Open Challenge} is described in~\refsec{sec:test_open_challenge}. - \end{enumerate} + %\item \textbf{Stage~II:} The \iterm{Open Challenge} is the open demonstration in \iterm{Stage~II}. + %\begin{enumerate} + % \item To participate in the \iterm{Open Challenge}, a team needs to participate in at least one regular \iterm{Stage~II} test. + % \item Teams can demonstrate freely chosen abilities. + % \item The performance is evaluated by a jury consisting of the \iaterm{Technical Committee}{TC}. + % \item The \iterm{Open Challenge} is described in~\refsec{sec:test_open_challenge}. + %\end{enumerate} + + \item This year the open demonstrations during the competition has been considerably reduced compared to previous years. However, teams are welcome to demonstrate their research to the rest of the teams if they think is relevant to the RoboCup @Home league. This would be accommodated by the TC/OC depending on the time limits of the competition. % \item \textbf{Stage~II:} The \iterm{Demo Challenge} is the open demonstration in Stage~II. % \begin{enumerate} diff --git a/general_rules/Procedure.tex b/general_rules/Procedure.tex index ca0557fd..23892d83 100644 --- a/general_rules/Procedure.tex +++ b/general_rules/Procedure.tex @@ -15,7 +15,8 @@ \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). The only exceptions are tests that require for more team members in the arena. \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 \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} @@ -197,7 +198,8 @@ \subsection{Restart} A robot has several (ideally 3, depending on available time in the schedule) attempts for each test. An attempt cannot be restarted. E.g.~if a robot fails halfway through an attempt at the Help-me-Carry test, the attempt is over, the robot is moved out of the test area and may prepare for the remaining attempts at the test. - \item \textbf{Stage 2} does have restarts for all tests but the Open Challenge: + %\item \textbf{Stage 2} does have restarts for all tests but the Open Challenge: + \item \textbf{Stage 2} does have restarts for all tests: \begin{enumerate} \item \textbf{Number of restarts:} A team may request one (1) restart during a test, unless stated in otherwise. There are tests in which a restart is not allowed. \item \textbf{Procedure:} In case a restart is allowed, the team may request the restart only before 50\% of the time alloted to the test. The complete test is then restarted from the beginning (e.g., with entering the arena). The referees may rearrange the locations of objects/persons if necessary. diff --git a/general_rules/Robots.tex b/general_rules/Robots.tex index 97270228..fe72035f 100644 --- a/general_rules/Robots.tex +++ b/general_rules/Robots.tex @@ -8,7 +8,8 @@ \subsection{Number of robots} \begin{enumerate} \item \textbf{Registration:} The maximum \term{number of robots} per team that can be registered for the competitions 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{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/score_sheets.tex b/score_sheets.tex index fd70ccc7..3c33f707 100644 --- a/score_sheets.tex +++ b/score_sheets.tex @@ -161,11 +161,12 @@ \input{scoresheets/EEGPSR.tex} \end{scoresheet} +% THIS IS REMOVED FROM 2019 RULE BOOK % Open Challenge -\renewcommand{\currentTest}{Open Challenge} -\begin{scoresheet} -\input{scoresheets/OpenChallenge.tex} -\end{scoresheet} +%\renewcommand{\currentTest}{Open Challenge} +%\begin{scoresheet} +%\input{scoresheets/OpenChallenge.tex} +%\end{scoresheet} % Set a table and clean it up \ifNotSSPL{ diff --git a/tests/Finals.tex b/tests/Finals.tex index b219e8f3..91f19b6e 100644 --- a/tests/Finals.tex +++ b/tests/Finals.tex @@ -2,8 +2,6 @@ \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. 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. From 451108ae982c2073d3b3dcac2696d6009544e3fd Mon Sep 17 00:00:00 2001 From: Caleb Rascon Date: Mon, 28 Jan 2019 16:20:08 -0600 Subject: [PATCH 21/64] Update Organization.tex --- general_rules/Organization.tex | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/general_rules/Organization.tex b/general_rules/Organization.tex index cff71987..88bea11d 100644 --- a/general_rules/Organization.tex +++ b/general_rules/Organization.tex @@ -121,7 +121,7 @@ \subsection{Open Demonstrations} % \item The \iterm{Open Challenge} is described in~\refsec{sec:test_open_challenge}. %\end{enumerate} - \item This year the open demonstrations during the competition has been considerably reduced compared to previous years. However, teams are welcome to demonstrate their research to the rest of the teams if they think is relevant to the RoboCup @Home league. This would be accommodated by the TC/OC depending on the time limits of the competition. + \item This year the open demonstrations during the competition has been considerably reduced compared to previous years. However, teams are welcome to demonstrate their research to the rest of the teams if they think is relevant to the RoboCup @Home league. This would be accommodated by the TC/OC depending on the time limits of the competition. To encourage this, the \iterm{open challenge award} is granted to the team that presents a truly innovative open demonstration (see \section{award:oc} for more details). % \item \textbf{Stage~II:} The \iterm{Demo Challenge} is the open demonstration in Stage~II. % \begin{enumerate} From 81c62ade1282e2ba493187dcb06d08a4b1c6e814 Mon Sep 17 00:00:00 2001 From: Caleb Rascon Date: Mon, 28 Jan 2019 16:21:45 -0600 Subject: [PATCH 22/64] Added the Open Challenge Award --- introduction/Awards.tex | 7 +++++++ 1 file changed, 7 insertions(+) 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: From 99c77d83471760a816d860a1c021ed89171a1ea6 Mon Sep 17 00:00:00 2001 From: Caleb Rascon Date: Mon, 28 Jan 2019 16:26:24 -0600 Subject: [PATCH 23/64] Fixed type in organization.tex --- general_rules/Organization.tex | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/general_rules/Organization.tex b/general_rules/Organization.tex index 88bea11d..b4039b43 100644 --- a/general_rules/Organization.tex +++ b/general_rules/Organization.tex @@ -121,7 +121,7 @@ \subsection{Open Demonstrations} % \item The \iterm{Open Challenge} is described in~\refsec{sec:test_open_challenge}. %\end{enumerate} - \item This year the open demonstrations during the competition has been considerably reduced compared to previous years. However, teams are welcome to demonstrate their research to the rest of the teams if they think is relevant to the RoboCup @Home league. This would be accommodated by the TC/OC depending on the time limits of the competition. To encourage this, the \iterm{open challenge award} is granted to the team that presents a truly innovative open demonstration (see \section{award:oc} for more details). + \item This year the open demonstrations during the competition has been considerably reduced compared to previous years. However, teams are welcome to demonstrate their research to the rest of the teams if they think is relevant to the RoboCup @Home league. This would be accommodated by the TC/OC depending on the time limits of the competition. To encourage this, the \iterm{open challenge award} is granted to the team that presents a truly innovative open demonstration (see Section \ref{award:oc} for more details). % \item \textbf{Stage~II:} The \iterm{Demo Challenge} is the open demonstration in Stage~II. % \begin{enumerate} From 0c93a20a8d7f3e150674d69bacc7151f0f9ed28f Mon Sep 17 00:00:00 2001 From: Caleb Rascon Date: Fri, 1 Feb 2019 17:55:21 -0600 Subject: [PATCH 24/64] Changed Finals to a themed demonstration. --- scoresheets/FinalsExec.tex | 8 +-- scoresheets/FinalsJury.tex | 8 +-- tests/Finals.tex | 100 +++++++++++++++---------------------- 3 files changed, 48 insertions(+), 68 deletions(-) diff --git a/scoresheets/FinalsExec.tex b/scoresheets/FinalsExec.tex index c482402a..e9d67e03 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/Elegance of & Innovation/contribution & Difficulty/Success of \\ + & solution to main objective & of additional tasks & overall demonstration \\ + & (0-10) & (0-10) & (0-10) \\ \hline \hline \tableTEAMS diff --git a/scoresheets/FinalsJury.tex b/scoresheets/FinalsJury.tex index 4da31b21..0fd65008 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/success of \\ + & presentation${}^\star$ & everyday life & overall demonstration \\ + & (0-10) & (0-10) & (0-10) \\ \hline \hline \tableTEAMS diff --git a/tests/Finals.tex b/tests/Finals.tex index b219e8f3..ca27cc76 100644 --- a/tests/Finals.tex +++ b/tests/Finals.tex @@ -1,68 +1,49 @@ \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 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. +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{Evaluating Juries for Final Demonstrations} -Each set of final demonstrations is evaluated by a different combination of evaluating juries, here described. +\section{Structure and Theme} -\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} +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. -\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 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 - \end{compactenum} +The objectives for each league for this year are: -\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: - \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} -\end{enumerate} +- 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 2 pages) that summarizes the demonstrated robot capabilities and contributions. -\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: + +\section{Evaluating Juries for Final Demonstrations} +The \iterm{Finals} are evaluated by two juries, here described. \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} +\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 Efficacy/elegance of the solution + \item Innovation/contribution to the league of the additional tasks solved + \item Difficulty of the overall demonstration + \end{compactenum} -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. +\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 Originality and presentation (story-telling is to be rewarded) + \item Relevance/usefulness to everyday life + \item Elegance/success of overall demonstration + \end{compactenum} -\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 +55,6 @@ \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 +64,15 @@ \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. + +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}. -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. +All teams in the Finals receive a certificate stating that they made it into the Finals of the RoboCup@Home competition. % Local Variables: From 1593581515d7c130f4ba386b86f1fea8b147c94b Mon Sep 17 00:00:00 2001 From: Caleb Rascon Date: Sat, 2 Feb 2019 11:13:47 -0600 Subject: [PATCH 25/64] Split elegance and success --- scoresheets/FinalsJury.tex | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/scoresheets/FinalsJury.tex b/scoresheets/FinalsJury.tex index 0fd65008..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 & Relevance/usefulness to & Elegance/success of \\ - & presentation${}^\star$ & everyday life & overall demonstration \\ - & (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 From eef1e403d060b14e66eacdbf26e31ceafb58c55d Mon Sep 17 00:00:00 2001 From: Caleb Rascon Date: Sat, 2 Feb 2019 11:15:48 -0600 Subject: [PATCH 26/64] Split efficacy and elegance --- scoresheets/FinalsExec.tex | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/scoresheets/FinalsExec.tex b/scoresheets/FinalsExec.tex index e9d67e03..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} - & Efficacy/Elegance of & Innovation/contribution & Difficulty/Success of \\ - & solution to main objective & of additional tasks & overall demonstration \\ - & (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 From ebfb5700f2f8fd31abb9a9d4e18b20852dfc6244 Mon Sep 17 00:00:00 2001 From: Caleb Rascon Date: Sat, 2 Feb 2019 11:21:32 -0600 Subject: [PATCH 27/64] Fixed materials and certificates. --- tests/Finals.tex | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/tests/Finals.tex b/tests/Finals.tex index ca27cc76..54e21da6 100644 --- a/tests/Finals.tex +++ b/tests/Finals.tex @@ -22,7 +22,7 @@ \section{Structure and Theme} 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 2 pages) that summarizes the demonstrated robot capabilities and contributions. +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. \section{Evaluating Juries for Final Demonstrations} @@ -64,7 +64,7 @@ \subsection{Task} %% %%%%%%%%%%%%%%%%%%%%%%%% \section{Final Ranking and Winner} -There will be an award for 1st, 2nd and 3rd place. +There will be an award for 1st, 2nd and 3rd place of each league. The winner of the competition is the team that gets the highest ranking in the \iterm{Finals}. @@ -72,7 +72,12 @@ \section{Final Ranking and Winner} The third place will be the team with the highest score that did not made it to the \iterm{Finals}. -All teams in the Finals receive a certificate stating that they made it into the Finals of the RoboCup@Home competition. +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: From c525a7cda08a740302967b65c674200cf96218ee Mon Sep 17 00:00:00 2001 From: Caleb Rascon Date: Sat, 2 Feb 2019 11:27:29 -0600 Subject: [PATCH 28/64] Encouragement to not use the microphone that much. --- tests/Finals.tex | 2 ++ 1 file changed, 2 insertions(+) diff --git a/tests/Finals.tex b/tests/Finals.tex index 54e21da6..444cd62a 100644 --- a/tests/Finals.tex +++ b/tests/Finals.tex @@ -24,6 +24,8 @@ \section{Structure and Theme} 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. + \section{Evaluating Juries for Final Demonstrations} The \iterm{Finals} are evaluated by two juries, here described. From 73813045df97ddeae2a709ba96a53c15956f106f Mon Sep 17 00:00:00 2001 From: "Justin W. Hart" Date: Sun, 3 Feb 2019 21:53:57 -0600 Subject: [PATCH 29/64] Fixed LaTeX error. --- tests/Finals.tex | 1 + 1 file changed, 1 insertion(+) diff --git a/tests/Finals.tex b/tests/Finals.tex index 444cd62a..88dba131 100644 --- a/tests/Finals.tex +++ b/tests/Finals.tex @@ -44,6 +44,7 @@ \section{Evaluating Juries for Final Demonstrations} \item Relevance/usefulness to everyday life \item Elegance/success of overall demonstration \end{compactenum} +\end{enumerate} \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: From 23d53db73cf75b228289f75dc25deb30f9a12a5e Mon Sep 17 00:00:00 2001 From: Syed Raza Date: Tue, 5 Feb 2019 16:50:01 +1100 Subject: [PATCH 30/64] Added a scoresheet for the receptionist task. --- scoresheets/Receptionist.tex | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) create mode 100644 scoresheets/Receptionist.tex diff --git a/scoresheets/Receptionist.tex b/scoresheets/Receptionist.tex new file mode 100644 index 00000000..5039cb6c --- /dev/null +++ b/scoresheets/Receptionist.tex @@ -0,0 +1,17 @@ +The maximum time for this test is \textbf{5 minutes}. + +\begin{scorelist} + \scoreheading{Main Goal} + \scoreitem[2]{250}{Robot takes the guest to the living room, introduce him/her, and offer an unoccupied place to sit.} + \penaltyitem[2]{-50}{Using misunderstood name of a guest} + + \scoreheading{Bonus rewards} + \scoreitem[2]{200}{Opening the entrance door to a guest} + \scoreitem{100}{Sitting the female guest next to a male guest} + +\end{scorelist} + + +% Local Variables: +% TeX-master: "Rulebook" +% End: From 33872d4ea7577369786788a707a23a3f93971174 Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Tue, 5 Feb 2019 16:46:59 +0100 Subject: [PATCH 31/64] Proposed party pooper task for party host scenario to test a robot's activity recognition abilities. --- Rulebook.tex | 3 +++ scoresheets/PartyPooper.tex | 12 ++++++++++ tasks/PartyPooper.tex | 46 +++++++++++++++++++++++++++++++++++++ 3 files changed, 61 insertions(+) create mode 100644 scoresheets/PartyPooper.tex create mode 100644 tasks/PartyPooper.tex diff --git a/Rulebook.tex b/Rulebook.tex index b6ef1d7c..8a269290 100644 --- a/Rulebook.tex +++ b/Rulebook.tex @@ -83,6 +83,9 @@ \chapter{Tests in Stage II} \newpage \input{tasks/SetTable} +\newpage +\input{tasks/PartyPooper} + \newpage \input{tests/Finals} diff --git a/scoresheets/PartyPooper.tex b/scoresheets/PartyPooper.tex new file mode 100644 index 00000000..5b85d228 --- /dev/null +++ b/scoresheets/PartyPooper.tex @@ -0,0 +1,12 @@ + +The maximum time for this test is 10 minutes. + +\begin{scorelist} + \scoreheading{Main Goal} + \scoreitem[5]{100}{Recognize guests breaking rules and ask them to stop} +\end{scorelist} + + +% Local Variables: +% TeX-master: "Rulebook" +% End: diff --git a/tasks/PartyPooper.tex b/tasks/PartyPooper.tex new file mode 100644 index 00000000..2cd8305c --- /dev/null +++ b/tasks/PartyPooper.tex @@ -0,0 +1,46 @@ +\section{Party Pooper [Party Host]} +The robot has to enforce house rules set by the homeowner. + + +\subsection{Main Goal} +The robot has to recognize when party guests are breaking rules and politely ask them to stop. + +\noindent\textbf{Reward:} 500pts (100pts per recognized rule breaking). + +\subsection{Setup} +\begin{itemize}[nosep] + \item \textbf{Location:} This test takes place in the arena. + \item \textbf{Guests:} There are several party guests inside the arena. +\end{itemize} + + +\subsection{Additional rules and remarks} +\textbf{House Rules:} +\begin{enumerate}[nosep] + \item No shoes allowed inside the house. All guests have to take off their shoes near the entrance. + \item No guests are allowed to enter one of the rooms in the house. + \item Guests are not allowed to drop garbage on the floor. + \item All guests have to have a drink in hand at all times. +\end{enumerate} + +\subsection{Referee instructions} + +The referee needs to +\begin{itemize} + \item Instruct party guests on which rules to break. +\end{itemize} + +\subsection{OC instructions} +During Setup days: +\begin{itemize} + \item Announce which room uests are not allowed to enter. +\end{itemize} + +\newpage +\subsection{Score sheet} +\input{scoresheets/PartyPooper.tex} + +% Local Variables: +% TeX-master: "Rulebook" +% End: + From 8fb6c68b873112752a795a2d0b470f71fd9b76d9 Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Tue, 5 Feb 2019 21:14:15 +0100 Subject: [PATCH 32/64] fixed typo pointed out by caleb --- tasks/PartyPooper.tex | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tasks/PartyPooper.tex b/tasks/PartyPooper.tex index 2cd8305c..7c5531dc 100644 --- a/tasks/PartyPooper.tex +++ b/tasks/PartyPooper.tex @@ -33,7 +33,7 @@ \subsection{Referee instructions} \subsection{OC instructions} During Setup days: \begin{itemize} - \item Announce which room uests are not allowed to enter. + \item Announce which room guests are not allowed to enter. \end{itemize} \newpage From 773afb035ebd0c05424e41c692845e5e3bab7a7b Mon Sep 17 00:00:00 2001 From: jkummert Date: Wed, 6 Feb 2019 12:27:01 +0100 Subject: [PATCH 33/64] Added back object ranges. Removed clear area rule since I feel robots must always be safe. --- tasks/StoringGroceries.tex | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/tasks/StoringGroceries.tex b/tasks/StoringGroceries.tex index f8f02864..9c43dba4 100644 --- a/tasks/StoringGroceries.tex +++ b/tasks/StoringGroceries.tex @@ -34,7 +34,7 @@ \subsection{Setup} \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 has several objects placed on it and the robot can choose which ones to grasp and in what order. 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. In small tables, objects will be added as the robot frees up space. \end{enumerate} @@ -50,8 +50,6 @@ \subsection{Additional rules and remarks} \item Telling or pointing out to the robot where to place an object results in a 30\% point reduction for that object. \end{itemize} - \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{Table} The table's rough location will be announced beforehand, having its position either left, right, or behind the robot. \end{enumerate} @@ -69,7 +67,7 @@ \subsection{Referee instructions} \begin{itemize} \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} From c40d2401166172e8d1983292021f4dffde6bf01f Mon Sep 17 00:00:00 2001 From: jkummert Date: Wed, 6 Feb 2019 13:11:43 +0100 Subject: [PATCH 34/64] small grammar fix: In small table -> On small tables --- tasks/StoringGroceries.tex | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tasks/StoringGroceries.tex b/tasks/StoringGroceries.tex index 9c43dba4..c8fe3be0 100644 --- a/tasks/StoringGroceries.tex +++ b/tasks/StoringGroceries.tex @@ -34,7 +34,7 @@ \subsection{Setup} \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 has 5-10 objects placed on it and the robot can choose which ones to grasp and in what order. 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} From 88282de39c66a221a7e9fb56428807d1f46b726c Mon Sep 17 00:00:00 2001 From: Syed Raza Date: Thu, 7 Feb 2019 12:21:39 +1100 Subject: [PATCH 35/64] Added a task called Help Me Carry in Stage I. --- Rulebook.tex | 2 ++ tasks/HelpMeCarry.tex | 76 +++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 78 insertions(+) create mode 100644 tasks/HelpMeCarry.tex diff --git a/Rulebook.tex b/Rulebook.tex index 73bed1a5..cd56c0f6 100644 --- a/Rulebook.tex +++ b/Rulebook.tex @@ -70,6 +70,8 @@ \chapter{Tests in Stage I} \input{tasks/ServingDrinks} \newpage \input{tasks/FindMyMates} +\newpage +\input{tasks/HelpMeCarry} % \newpage % \input{tasks/ServingBeverages} diff --git a/tasks/HelpMeCarry.tex b/tasks/HelpMeCarry.tex new file mode 100644 index 00000000..1a1684c0 --- /dev/null +++ b/tasks/HelpMeCarry.tex @@ -0,0 +1,76 @@ +\section{Help Me Carry [Party Host]} +The robot helps a guest to carry some luggage to his/her car. + +\subsection{Main Goal} +Robot helps a guest to carry a bag to the car which is parked outside and comes back home. + +\subsection{Focus} +It includes understanding pointing gesture, object identification and manipulation, navigation in known and unknown environments, person-following while carrying a luggage, and social navigation. + +\noindent\textbf{Reward:} 500 pts for carrying the bag to the car's location and coming back home. + +\subsection{Bonus rewards} +\begin{enumerate}[nosep] + \item Find the bag by understanding the pointing behaviour (100 pts). + \item Avoid all the obstacles outdoor (400 pts). +\end{enumerate} + + +\subsection{Setup} +\begin{itemize} + \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{Guest}: There is only one guest in the house, standing in front of the robot at the start. + + \item \textbf{Bags' Location:} There are at least two bags placed between one to two meters away from the guest's start position and both should be visible to the robot. + + \item \textbf{Pointing to the Bag:} When the test starts, the guest points to his/her bag and requests the robot to carry it to the car. + + \item \textbf{Outdoor Obstacles:} The robot will face multiple obstacles outside. The obstacles may include a person, a group of people, a stationary object or a moving object. +\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} + \item help in finding the bag (-100 pts). + \item help in carrying the bag (-100 pts). + \item help in tracking the guest (-200pts). + \item help in going back home (-100pts). + \end{itemize} + + \item \textbf{Pointing to the Bag:} The guest keeps pointing to the bag and does not move. + + \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 guest. After the robot reaches the car's location, the guest says "Stop following me". + + %\item \textbf{Coming Back Home:} The robot should come back home by itself. + +\end{enumerate} + + +\subsection{Referee instructions} + +The referees need to +\begin{itemize} + \item Select one volunteer as a guest and three to four people to obstruct robot's path outside. + \item Choose bags' positions and assign a bag to the guest. + \item Choose which obstacles the robot will face outside and when. + \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} + \item Select and announce the robot starting point. + \item Select which bags will be used. +\end{itemize} + +% \newpage +% \subsection{Score sheet} +% \input{scoresheets/Receptionist.tex} From cfb2664ae3581553af24c7158ea96a565141ddb4 Mon Sep 17 00:00:00 2001 From: Syed Raza Date: Thu, 7 Feb 2019 12:48:20 +1100 Subject: [PATCH 36/64] A scoresheet is added. --- scoresheets/HelpMeCarry.tex | 58 +++++++++---------------------------- 1 file changed, 13 insertions(+), 45 deletions(-) diff --git a/scoresheets/HelpMeCarry.tex b/scoresheets/HelpMeCarry.tex index 8db3d514..93de17eb 100644 --- a/scoresheets/HelpMeCarry.tex +++ b/scoresheets/HelpMeCarry.tex @@ -1,52 +1,20 @@ 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} + \scoreheading{Main Goal} + \scoreitem{500}{Carry the bag to the car's location and coming back home} + \penaltyitem{-100}{help in finding the bag} + \penaltyitem{-100}{help in carrying the bag} + \penaltyitem{-200}{help in tracking the guest} + \penaltyitem{-100}{help in going back home} + + \scoreheading{Bonus rewards} + \scoreitem{100}{Find the bag by understanding the pointing behaviour} + \scoreitem{400}{Avoid all the obstacles outdoor} + + % No longer necessary, computes automatically + % \setTotalScore{1000} \end{scorelist} -} % Local Variables: % TeX-master: "Rulebook" From 41476bc933aba6c4422185e3cd2f488dee2a4545 Mon Sep 17 00:00:00 2001 From: jkummert Date: Thu, 7 Feb 2019 12:53:33 +0100 Subject: [PATCH 37/64] renamed task --- Rulebook.tex | 2 +- scoresheets/{PartyPooper.tex => SticklerRules.tex} | 0 tasks/{PartyPooper.tex => SticklerForRules.tex} | 4 ++-- 3 files changed, 3 insertions(+), 3 deletions(-) rename scoresheets/{PartyPooper.tex => SticklerRules.tex} (100%) rename tasks/{PartyPooper.tex => SticklerForRules.tex} (93%) diff --git a/Rulebook.tex b/Rulebook.tex index 8a269290..005aa197 100644 --- a/Rulebook.tex +++ b/Rulebook.tex @@ -84,7 +84,7 @@ \chapter{Tests in Stage II} \input{tasks/SetTable} \newpage -\input{tasks/PartyPooper} +\input{tasks/SticklerForRules} \newpage \input{tests/Finals} diff --git a/scoresheets/PartyPooper.tex b/scoresheets/SticklerRules.tex similarity index 100% rename from scoresheets/PartyPooper.tex rename to scoresheets/SticklerRules.tex diff --git a/tasks/PartyPooper.tex b/tasks/SticklerForRules.tex similarity index 93% rename from tasks/PartyPooper.tex rename to tasks/SticklerForRules.tex index 7c5531dc..346e9943 100644 --- a/tasks/PartyPooper.tex +++ b/tasks/SticklerForRules.tex @@ -1,4 +1,4 @@ -\section{Party Pooper [Party Host]} +\section{Stickler for the Rules [Party Host]} The robot has to enforce house rules set by the homeowner. @@ -38,7 +38,7 @@ \subsection{OC instructions} \newpage \subsection{Score sheet} -\input{scoresheets/PartyPooper.tex} +\input{scoresheets/SticklerRules.tex} % Local Variables: % TeX-master: "Rulebook" From 3bf55908bf2fb9317b881b84535d1394682262b2 Mon Sep 17 00:00:00 2001 From: Syed Raza Date: Fri, 8 Feb 2019 16:29:52 +1100 Subject: [PATCH 38/64] Bonus rewards rule changed. --- scoresheets/Receptionist.tex | 2 +- tasks/Receptionist.tex | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/scoresheets/Receptionist.tex b/scoresheets/Receptionist.tex index 5039cb6c..2826664a 100644 --- a/scoresheets/Receptionist.tex +++ b/scoresheets/Receptionist.tex @@ -7,7 +7,7 @@ \scoreheading{Bonus rewards} \scoreitem[2]{200}{Opening the entrance door to a guest} - \scoreitem{100}{Sitting the female guest next to a male guest} + \scoreitem{100}{Sitting the oldest person on a sofa} \end{scorelist} diff --git a/tasks/Receptionist.tex b/tasks/Receptionist.tex index 32c45e3c..0a8102e2 100644 --- a/tasks/Receptionist.tex +++ b/tasks/Receptionist.tex @@ -13,7 +13,7 @@ \subsection{Main Goal} \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 Sitting the oldest person on a sofa (100pts) \end{enumerate} From bdc71b27dc07bea48003cdd891df5220d241899c Mon Sep 17 00:00:00 2001 From: "Justin W. Hart" Date: Tue, 12 Feb 2019 00:00:26 -0600 Subject: [PATCH 39/64] Updated Help Out to be GPSR. --- Rulebook.tex | 2 +- scoresheets/GPSR.tex | 71 ++++----------------------------- scoresheets/HelpOut.tex | 19 --------- tasks/{HelpOut.tex => GPSR.tex} | 35 +++++----------- 4 files changed, 18 insertions(+), 109 deletions(-) delete mode 100644 scoresheets/HelpOut.tex rename tasks/{HelpOut.tex => GPSR.tex} (54%) diff --git a/Rulebook.tex b/Rulebook.tex index d40bed9b..fd70b94c 100644 --- a/Rulebook.tex +++ b/Rulebook.tex @@ -84,7 +84,7 @@ \chapter{Tests in Stage II} \input{tasks/SetTable} \newpage -\input{tasks/HelpOut} +\input{tasks/GPSR} \newpage \input{tests/Finals} diff --git a/scoresheets/GPSR.tex b/scoresheets/GPSR.tex index 0eca0142..619c0b6e 100644 --- a/scoresheets/GPSR.tex +++ b/scoresheets/GPSR.tex @@ -1,71 +1,16 @@ -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 \textbf{10 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[5]{325}{Perform each task} - \scoreheading{Leave the arena} - \scoreitem{10}{Leave the arena after successfully accomplishing a command} + \scoreheading{Bonus rewards} + \scoreitem[5]{150}{Respond to free-form English commands} + \scoreitem{125}{Coming when called} - \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/HelpOut.tex b/scoresheets/HelpOut.tex deleted file mode 100644 index 49ccdfb4..00000000 --- a/scoresheets/HelpOut.tex +++ /dev/null @@ -1,19 +0,0 @@ - -The maximum time for this test is 5 minutes. - -\begin{scorelist} - \scoreheading{Main Goal} - \scoreitem{600}{Perform each task (200 points per task)} - - \scoreheading{Bonus rewards} - \scoreitem{300}{Respond to free-form English commands (100 points per task)} - \scoreitem{50}{Go home} - \scoreitem{50}{Come here} - - \setTotalScore{1000} -\end{scorelist} - - -% Local Variables: -% TeX-master: "Rulebook" -% End: diff --git a/tasks/HelpOut.tex b/tasks/GPSR.tex similarity index 54% rename from tasks/HelpOut.tex rename to tasks/GPSR.tex index 6b7d20ee..56b0dedc 100644 --- a/tasks/HelpOut.tex +++ b/tasks/GPSR.tex @@ -1,19 +1,18 @@ -\section{Help Out [Housekeeper]} -Smart speakers have become a staple device in modern households only a few years after their introduction because they fill a niche for a general assistive device in the home. A clear goal of upcoming domestic service robot technologies is to have a device that aids users in day-to-day tasks. +\section{General Purpose Service Robot [Housekeeper]} +Similar to a modern smart-speaker, the robot can be asked to do anything, in plain English, from 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} -Accept verbal instructions from home occupants and perform those tasks. +Understand and act on verbal instructions from home occupants and perform those tasks. -\noindent\textbf{Reward:} 600pts (200 points per task)\\ +\noindent\textbf{Reward:} 2500pts (325 points per task)\\ \subsection{Bonus rewards} \begin{enumerate}[nosep] - \item Free-form English commands. The team may ask the commands to be re-worded from the generated command, in order to test more advanced natural language processing. (100 pts, each) - \item Going home when instructed to do so. The robot must park itself in the home position and successfully come back when requested with, \textit {, I need help!}. (50pts) - \item Coming when called. Robot should come to the same room as the operator when requested with, \textit {, I need help!}. (50pts) + \item Free-form English commands. The team may ask the commands to be re-worded from the generated command, in order to test more advanced natural language processing. (150 pts, each) + \item Coming when called. Robot should come to the same room as the operator when requested with, \textit {, I need help!}. (125pts) \end{enumerate} % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -25,27 +24,11 @@ \subsection{Setup} \begin{enumerate} \item \textbf{Home:} An area in the arena is marked as the \textit{home} for the robot, which it goes to when it is not in use. - \item \textbf{House Residents:} Three people in the arena will give tasks to the robot. + \item \textbf{Operators:} Three people in the arena will give tasks to the robot. - \item \textbf{Object and Resident Placements:} Residents will instruct the robot to perform tasks in the various rooms of the home. Tasks should be pre-generated and the residents and items should be in the correct places before the round starts. + \item \textbf{Object and Operator Placements:} Operators will instruct the robot to perform tasks in the various rooms of the home. Tasks should be pre-generated and the operators and items should be in the correct places before the round starts. \end{enumerate} - -% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Setup -% -% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -\subsection{Procedure} -\begin{enumerate} - \item \textbf{Tasks} Residents may ask the robot to perform any command from the set of capabilities in all rounds of RoboCup@Home. Tasks will come from the generator. - \item \textbf{Going Home} When requested, the robot should park itself in its \textit{home}. The robot must also wake up to perform the next command. - \item \textbf{Coming When Called} When requested, the robot should come to another room to perform the next command. The requester will be in that room. To bypass this, an operator may give the command, \textit{Go to }. - - -\end{enumerate} - - % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % % Additional Rules @@ -79,7 +62,7 @@ \subsection{Referee instructions} \newpage \subsection{Score sheet} -\input{scoresheets/HelpOut.tex} +\input{scoresheets/GPSR.tex} % Local Variables: % TeX-master: "Rulebook" From e632d873cacda42511051c837ba77ac3f319d05e Mon Sep 17 00:00:00 2001 From: jkummert Date: Thu, 14 Feb 2019 15:43:11 +0100 Subject: [PATCH 40/64] added back object ranges --- tasks/CleanUp.tex | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/tasks/CleanUp.tex b/tasks/CleanUp.tex index fddbb4fe..bd3136f0 100644 --- a/tasks/CleanUp.tex +++ b/tasks/CleanUp.tex @@ -21,12 +21,12 @@ \subsection{Setup} \begin{itemize}[nosep] \item \textbf{Location:} A random room in the arena. - \item \textbf{Objects:} There are misplaced objects at random locations in the room. + \item \textbf{Objects:} There are 5-10 misplaced objects at random locations in the room. Objects can be anywhere, including the floor, seats, and on furniture. All objects are clearly visible (i.e. no occlusions) and can be: \begin{itemize}[nosep] \item\textit{Known objects}: Regular and alike objects. - \item\textit{Unknown objects}: Garbage lying around at grasping distance. + \item\textit{Unknown objects}: Garbage lying around at grasping distance (2-3 objects). \end{itemize} \end{itemize} @@ -54,7 +54,6 @@ \subsection{Additional Rules and Remarks} \subsection{Referee instructions} The referee needs to \begin{itemize} - \item Agree on distribution of known and unknown objects (i.e. 4/1). \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. From 979acaa251724b7074bed40570032a28f11c02a8 Mon Sep 17 00:00:00 2001 From: jkummert Date: Thu, 14 Feb 2019 16:06:29 +0100 Subject: [PATCH 41/64] Addressed some comments by mauricio and caleb. Added control the rules as bonus goal. --- scoresheets/SticklerRules.tex | 4 +++- tasks/SticklerForRules.tex | 27 ++++++++++++++++++++------- 2 files changed, 23 insertions(+), 8 deletions(-) diff --git a/scoresheets/SticklerRules.tex b/scoresheets/SticklerRules.tex index 5b85d228..2a7697bd 100644 --- a/scoresheets/SticklerRules.tex +++ b/scoresheets/SticklerRules.tex @@ -3,7 +3,9 @@ \begin{scorelist} \scoreheading{Main Goal} - \scoreitem[5]{100}{Recognize guests breaking rules and ask them to stop} + \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} diff --git a/tasks/SticklerForRules.tex b/tasks/SticklerForRules.tex index 346e9943..a8688d3e 100644 --- a/tasks/SticklerForRules.tex +++ b/tasks/SticklerForRules.tex @@ -3,31 +3,44 @@ \section{Stickler for the Rules [Party Host]} \subsection{Main Goal} -The robot has to recognize when party guests are breaking rules and politely ask them to stop. +The robot has to identify when party guests are breaking rules and politely ask them to stop. -\noindent\textbf{Reward:} 500pts (100pts per recognized rule breaking). +\noindent\textbf{Reward:} 750pts (250pts per recognized rule breaking). + +\subsection{Bonus rewards} +\begin{enumerate}[nosep] + \item Instruct guest how to not break the rules anymore and confirm if they do. 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 several party guests inside the arena. + \item \textbf{Guests:} There are 5 party guests inside the arena. \end{itemize} \subsection{Additional rules and remarks} +\begin{enumerate}[nosep] + \item Three of the guests are breaking rules + \item The guests may or may not follow the robot's instructions + \item To get the bonus rewards the robot has to state when a guest did or did not follow their instructions. +\end{enumerate} + \textbf{House Rules:} \begin{enumerate}[nosep] - \item No shoes allowed inside the house. All guests have to take off their shoes near the entrance. - \item No guests are allowed to enter one of the rooms in the house. - \item Guests are not allowed to drop garbage on the floor. - \item All guests have to have a drink in hand at all times. + \item No shoes allowed inside the house. All guests have to take off their shoes near the entrance. - Show guest the entrance and check if they take off their shoes. + \item No guests are allowed to enter one of the rooms in the house. - Show guest a room with other party guests and make sure the guest does not go back. + \item Guests are not allowed to leave garbage on the floor. - Make sure they pick up the garbage and show them a bin to throw it into. + \item All guests must have a drink in hand at all times. - Show the guest the kitchen/bar and make sure they grab a drink. \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} From eacc4613156d2871e1629fbbff4e5912dc5216e9 Mon Sep 17 00:00:00 2001 From: Syed Raza Date: Mon, 18 Feb 2019 14:47:44 +1100 Subject: [PATCH 42/64] Changes after the discussion. --- scoresheets/HelpMeCarry.tex | 14 +++++------ tasks/HelpMeCarry.tex | 48 ++++++++++++++++++------------------- 2 files changed, 31 insertions(+), 31 deletions(-) diff --git a/scoresheets/HelpMeCarry.tex b/scoresheets/HelpMeCarry.tex index 93de17eb..4fb51a02 100644 --- a/scoresheets/HelpMeCarry.tex +++ b/scoresheets/HelpMeCarry.tex @@ -2,15 +2,15 @@ \begin{scorelist} \scoreheading{Main Goal} - \scoreitem{500}{Carry the bag to the car's location and coming back home} - \penaltyitem{-100}{help in finding the bag} - \penaltyitem{-100}{help in carrying the bag} - \penaltyitem{-200}{help in tracking the guest} - \penaltyitem{-100}{help in going back home} + \scoreitem{500}{Carry the bag to the car's location} + \penaltyitem{-100}{handing-over the bag} + \penaltyitem{-100}{help in tracking the operator using natural gestures} + \penaltyitem{-200}{help in tracking the operator using non-natural gestures}\\ + \penaltyitem{-400}{help in tracking the operator by touching the robot} \scoreheading{Bonus rewards} - \scoreitem{100}{Find the bag by understanding the pointing behaviour} - \scoreitem{400}{Avoid all the obstacles outdoor} + \scoreitem{100}{Coming back home} + \scoreitem[4]{100}{Avoid all the obstacles outdoor} % No longer necessary, computes automatically % \setTotalScore{1000} diff --git a/tasks/HelpMeCarry.tex b/tasks/HelpMeCarry.tex index 1a1684c0..a5a9e5d2 100644 --- a/tasks/HelpMeCarry.tex +++ b/tasks/HelpMeCarry.tex @@ -1,18 +1,19 @@ -\section{Help Me Carry [Party Host]} -The robot helps a guest to carry some luggage to his/her car. +\section{CarryMyLuggage [Party Host]} +The robot helps the operator to carry some luggage to the car. \subsection{Main Goal} -Robot helps a guest to carry a bag to the car which is parked outside and comes back home. +Robot helps the operator to carry a bag to the car which is parked outside. +% and comes back home. \subsection{Focus} -It includes understanding pointing gesture, object identification and manipulation, navigation in known and unknown environments, person-following while carrying a luggage, and social navigation. +Object identification and manipulation, person-following, and social navigation. -\noindent\textbf{Reward:} 500 pts for carrying the bag to the car's location and coming back home. +\noindent\textbf{Reward:} 500 pts for carrying the bag to the car's location. \subsection{Bonus rewards} \begin{enumerate}[nosep] - \item Find the bag by understanding the pointing behaviour (100 pts). - \item Avoid all the obstacles outdoor (400 pts). + \item Coming back home (100 pts). + \item Avoid the obstacles outdoor (100 pts per obstacle, max 400 pts). \end{enumerate} @@ -20,34 +21,32 @@ \subsection{Setup} \begin{itemize} \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{Start Location}: The robot starts at a predefined location in the living house. - \item \textbf{Guest}: There is only one guest in the house, standing in front of the robot at the start. + \item \textbf{Operator}: At the start, the operator is standing in front of the robot. - \item \textbf{Bags' Location:} There are at least two bags placed between one to two meters away from the guest's start position and both should be visible to the robot. + \item \textbf{Bags' Location:} There are at least two bags placed between one to two meters away from the operator's start position and both should be visible to the robot. - \item \textbf{Pointing to the Bag:} When the test starts, the guest points to his/her bag and requests the robot to carry it to the car. + \item \textbf{Pointing to the Bag:} When the test starts, the operator points to a bag and requests the robot to carry it to the car. - \item \textbf{Outdoor Obstacles:} The robot will face multiple obstacles outside. The obstacles may include a person, a group of people, a stationary object or a moving object. + \item \textbf{Operator's Bag:} The bag which is pointed is placed such that the robot's hand can reach it. + + \item \textbf{Outdoor Obstacles:} The robot will face four obstacles outside. The obstacles will include a crowd obstructing path, a small 3D object placed on ground, a small moving toy-car, and a small area blocked using retractable barriers. \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} - \item help in finding the bag (-100 pts). - \item help in carrying the bag (-100 pts). - \item help in tracking the guest (-200pts). - \item help in going back home (-100pts). + \item Handing-over the bag (-100 pts). + \item Any help in following the operator by requesting 1$)$ natural gestures (like, wave and calling) costs -100pts 2$)$ non-natural gestures (like, raising both hands and jumping) costs -200pts, and 3$)$ touching (like, pulling the robot's hand) costs -400pts. \end{itemize} - \item \textbf{Pointing to the Bag:} The guest keeps pointing to the bag and does not move. - \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 guest. After the robot reaches the car's location, the guest says "Stop following me". + \item \textbf{Reaching the Car:} The robot can reach the car's location only by following the operator. - %\item \textbf{Coming Back Home:} The robot should come back home by itself. + \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} @@ -56,9 +55,10 @@ \subsection{Referee instructions} The referees need to \begin{itemize} - \item Select one volunteer as a guest and three to four people to obstruct robot's path outside. - \item Choose bags' positions and assign a bag to the guest. - \item Choose which obstacles the robot will face outside and when. + \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} @@ -67,7 +67,7 @@ \subsection{OC instructions} 2h before test: \begin{itemize} - \item Select and announce the robot starting point. + \item Select and announce the robot's starting point. \item Select which bags will be used. \end{itemize} From 1eeb759650324424a6285d5ee434e59a651d086c Mon Sep 17 00:00:00 2001 From: Syed Raza Date: Mon, 18 Feb 2019 14:53:48 +1100 Subject: [PATCH 43/64] Files renamed --- scoresheets/{HelpMeCarry.tex => CarryMyLuggage.tex} | 0 tasks/{HelpMeCarry.tex => CarryMyLuggage.tex} | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename scoresheets/{HelpMeCarry.tex => CarryMyLuggage.tex} (100%) rename tasks/{HelpMeCarry.tex => CarryMyLuggage.tex} (100%) diff --git a/scoresheets/HelpMeCarry.tex b/scoresheets/CarryMyLuggage.tex similarity index 100% rename from scoresheets/HelpMeCarry.tex rename to scoresheets/CarryMyLuggage.tex diff --git a/tasks/HelpMeCarry.tex b/tasks/CarryMyLuggage.tex similarity index 100% rename from tasks/HelpMeCarry.tex rename to tasks/CarryMyLuggage.tex From ef7ecd9c22b40ea91dab39bd13f0ad7217f00b84 Mon Sep 17 00:00:00 2001 From: Syed Raza Date: Mon, 18 Feb 2019 14:57:22 +1100 Subject: [PATCH 44/64] Corrected name referencing. --- Rulebook.tex | 2 +- tasks/CarryMyLuggage.tex | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Rulebook.tex b/Rulebook.tex index cd56c0f6..a1701709 100644 --- a/Rulebook.tex +++ b/Rulebook.tex @@ -71,7 +71,7 @@ \chapter{Tests in Stage I} \newpage \input{tasks/FindMyMates} \newpage -\input{tasks/HelpMeCarry} +\input{tasks/CarryMyLuggage} % \newpage % \input{tasks/ServingBeverages} diff --git a/tasks/CarryMyLuggage.tex b/tasks/CarryMyLuggage.tex index a5a9e5d2..4c1a217f 100644 --- a/tasks/CarryMyLuggage.tex +++ b/tasks/CarryMyLuggage.tex @@ -1,4 +1,4 @@ -\section{CarryMyLuggage [Party Host]} +\section{Carry My Luggage [Party Host]} The robot helps the operator to carry some luggage to the car. \subsection{Main Goal} From 2ef5f7fa0bcbbb724a9ec9a63447ccf9fcf1ebcd Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Tue, 19 Feb 2019 16:20:12 +0100 Subject: [PATCH 45/64] Fix some typos and spelling errors --- extra_dict.pws | 7 +++++-- tasks/CleanTable.tex | 2 +- tasks/Farewell.tex | 6 +++--- tasks/FindMyMates.tex | 12 ++++++------ 4 files changed, 15 insertions(+), 12 deletions(-) diff --git a/extra_dict.pws b/extra_dict.pws index 156c572f..acfcfa9b 100644 --- a/extra_dict.pws +++ b/extra_dict.pws @@ -13,7 +13,6 @@ d'Ing Dominey du Ecole -enierie et Fariborz Gestion @@ -189,4 +188,8 @@ GPSR EEGPSR Deus Machina -pts \ No newline at end of file +pts +outliers +OSL +rulebook +notecards \ No newline at end of file diff --git a/tasks/CleanTable.tex b/tasks/CleanTable.tex index 3fdf0f34..f454b066 100644 --- a/tasks/CleanTable.tex +++ b/tasks/CleanTable.tex @@ -38,7 +38,7 @@ \subsection{Additional rules and remarks} \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} diff --git a/tasks/Farewell.tex b/tasks/Farewell.tex index fa9044b5..b1a81492 100644 --- a/tasks/Farewell.tex +++ b/tasks/Farewell.tex @@ -1,5 +1,5 @@ \section{Farewell [Party Host]} -It's raining outside. The robot takes tired guests to their cab/über. Ladies go first. +It's raining outside. The robot takes tired guests to their cab. Ladies go first. % \subsection{Focus} % This test focuses on human detection and recognition, safe navigation and human-robot interaction with unknown people. @@ -48,13 +48,13 @@ \subsection{Additional rules and remarks} \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{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. \end{enumerate} diff --git a/tasks/FindMyMates.tex b/tasks/FindMyMates.tex index 342b8d35..471182bb 100644 --- a/tasks/FindMyMates.tex +++ b/tasks/FindMyMates.tex @@ -17,7 +17,7 @@ \subsection{Bonus rewards} \subsection{Setup} \begin{itemize} - \item \textbf{Location}: This test takes place inside the arena in a predefined room (e.g. living room). + \item \textbf{Location}: This test takes place inside the arena in a predefined room (e.g.~living room). \item \textbf{People}: 4 people distributed in the room. \end{itemize} @@ -28,14 +28,14 @@ \subsection{Additional rules and remarks} \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). + \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 a person may include information about gender, clothing, skin, face, hair, pose, etc. It should be a unique description i.e. not shared with any other guest. - - \item \textbf{Description of Location:} The robot provides relative location of a person in the room i.e. with respect to the objects in the room (like, PersonX is sitting on the coach, PersonY is standing beside the lamp, etc.). + + \item \textbf{Description of a Person:} The description of a person may include information about gender, clothing, skin, face, hair, pose, etc. It should be a unique description i.e.~not shared with any other guest. + + \item \textbf{Description of Location:} The robot provides relative location of a person in the room i.e.~with respect to the objects in the room (like, \textit{Person X} is sitting on the coach, \textit{Person Y} is standing beside the lamp, etc.). \end{enumerate} From 0bc997b4c4cfecd80aaa550cb0d5f006927137ef Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Tue, 19 Feb 2019 16:24:57 +0100 Subject: [PATCH 46/64] Change OSL rule to allow any laptop as OSL for Toyota HSR --- general_rules/ExternalDevices.tex | 27 +++++++-------------------- 1 file changed, 7 insertions(+), 20 deletions(-) diff --git a/general_rules/ExternalDevices.tex b/general_rules/ExternalDevices.tex index 8227581c..8d804a40 100644 --- a/general_rules/ExternalDevices.tex +++ b/general_rules/ExternalDevices.tex @@ -1,7 +1,7 @@ % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% +% % External Devices -% +% % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% \section{External devices} \label{rule:robot_external_devices} @@ -9,7 +9,7 @@ \section{External devices} 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} @@ -19,7 +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. @@ -45,23 +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: From 11731bf2e5ccb068a161ce745a4f7ae7f06a7af5 Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Tue, 19 Feb 2019 16:45:42 +0100 Subject: [PATCH 47/64] Buffs Clean Up to make it fit in 1 page --- tasks/CleanUp.tex | 25 +++++++++++++------------ 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/tasks/CleanUp.tex b/tasks/CleanUp.tex index bd3136f0..c98f3442 100644 --- a/tasks/CleanUp.tex +++ b/tasks/CleanUp.tex @@ -1,11 +1,11 @@ \section{Clean Up [Housekeeper]} -The robot has to tidy up a room inside the arena. +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} % This test focuses on object perception, manipulation, and planning. \subsection{Main Goal} -Inside one room in the arena are some misplaced objects. The robot has to find each one and bring them to their predefined locations. Unknown objects have to be thrown into the bin. Near the arena entrance will be an operator who can tell the robot which room is messy and will open the entrance door if the robot requests it. +Find all misplaced objects objects in a room and bring them to their predefined locations. \noindent\textbf{Reward:} 500pts (100pts per object). @@ -20,34 +20,36 @@ \subsection{Bonus Rewards} \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 5-10 misplaced objects 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 clearly visible (i.e. no occlusions) and can be: + All objects are clearly visible (i.e.~no occlusions) and can be: \begin{itemize}[nosep] \item\textit{Known objects}: Regular and alike objects. - \item\textit{Unknown objects}: Garbage lying around at grasping distance (2-3 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 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 Guiding the robot nearby the location where an object can be found causes a reduction of 20\% 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 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. \end{enumerate} @@ -65,6 +67,5 @@ \subsection{OC instructions} \item Announce the starting location of the robot. \end{itemize} -\newpage \subsection{Score sheet} \input{scoresheets/CleanUp.tex} \ No newline at end of file From 668186a8e7ac5fe02bc87c3d6de51b5254cc14c2 Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Tue, 19 Feb 2019 17:01:37 +0100 Subject: [PATCH 48/64] Buffs the Take Out the Trash task - Replaces percentages with points - Adds trash bags to General Rules Section - Adds penalties to scoresheet --- general_rules/Scenario.tex | 11 ++++++----- scoresheets/TakeOutGarbage.tex | 2 ++ tasks/TakeOutGarbage.tex | 15 +++++++-------- 3 files changed, 15 insertions(+), 13 deletions(-) diff --git a/general_rules/Scenario.tex b/general_rules/Scenario.tex index 023d608f..de47ad5d 100644 --- a/general_rules/Scenario.tex +++ b/general_rules/Scenario.tex @@ -162,13 +162,14 @@ \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{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} diff --git a/scoresheets/TakeOutGarbage.tex b/scoresheets/TakeOutGarbage.tex index a0afe946..ac2f13b5 100644 --- a/scoresheets/TakeOutGarbage.tex +++ b/scoresheets/TakeOutGarbage.tex @@ -5,6 +5,8 @@ \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} diff --git a/tasks/TakeOutGarbage.tex b/tasks/TakeOutGarbage.tex index 7b1c19bd..666a10a3 100644 --- a/tasks/TakeOutGarbage.tex +++ b/tasks/TakeOutGarbage.tex @@ -1,17 +1,17 @@ \section{Take Out the Garbage [Housekeeper]} -The robot has to take out the trash bags from the two bins in the apartment. +All garbage bins in the apartment are emptied and the garbage has been moved to a specified collection zone. % \subsection{Focus} % This test focuses on object perception, manipulation, and planning. \subsection{Main Goal} -All garbage bins in the apartment are emptied and the garbage has been moved to a specified collection zone. +The robot takes out the trash bags from the two bins in the apartment. \noindent\textbf{Reward:} 500pts (250pts per bag) \subsection{Bonus rewards} \begin{enumerate}[nosep] - \item Removing the lid of a bin. (100pts per bin) + \item Removing the lid of a bin. (100pts per bin) \item Transporting both bags at once. (300pts) \end{enumerate} @@ -20,7 +20,7 @@ \subsection{Setup} \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 collection zone is a designated area near the entrance. + \item \textbf{Collection Zones:} The collection zone is a designated area near the entrance. \end{itemize} @@ -28,11 +28,11 @@ \subsection{Additional rules and remarks} \begin{enumerate}[nosep] \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 80\% score reduction for that bag. + \item Handing a bag over to the robot results in a score reduction of 200pts per bag. \end{itemize} - \item \textbf{Bag placement:} Bags not placed at least partially within the collection zone are penalized by 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{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} @@ -57,7 +57,6 @@ \subsection{OC instructions} \item Announce the collection zones. \end{itemize} -\newpage \subsection{Score sheet} \input{scoresheets/TakeOutGarbage.tex} From e6f67a99906cc1cd0338582e342f6c2d2b91d9b1 Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Tue, 19 Feb 2019 17:34:02 +0100 Subject: [PATCH 49/64] Buffs Carry my Luggage task - Shortens descriptions - Adds scoresheet --- scoresheets/CarryMyLuggage.tex | 24 +++++++----- tasks/CarryMyLuggage.tex | 67 +++++++++++++++++++--------------- 2 files changed, 52 insertions(+), 39 deletions(-) diff --git a/scoresheets/CarryMyLuggage.tex b/scoresheets/CarryMyLuggage.tex index 4fb51a02..9ff5fc13 100644 --- a/scoresheets/CarryMyLuggage.tex +++ b/scoresheets/CarryMyLuggage.tex @@ -1,21 +1,27 @@ + The maximum time for this test is 5 minutes. \begin{scorelist} \scoreheading{Main Goal} - \scoreitem{500}{Carry the bag to the car's location} - \penaltyitem{-100}{handing-over the bag} - \penaltyitem{-100}{help in tracking the operator using natural gestures} - \penaltyitem{-200}{help in tracking the operator using non-natural gestures}\\ - \penaltyitem{-400}{help in tracking the operator by touching the robot} - + \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}{Coming back home} - \scoreitem[4]{100}{Avoid all the obstacles outdoor} - + \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/tasks/CarryMyLuggage.tex b/tasks/CarryMyLuggage.tex index 4c1a217f..88ac2eaa 100644 --- a/tasks/CarryMyLuggage.tex +++ b/tasks/CarryMyLuggage.tex @@ -1,60 +1,68 @@ \section{Carry My Luggage [Party Host]} -The robot helps the operator to carry some luggage to the car. +The robot helps the operator to carry some luggage to the car which is parked outside. -\subsection{Main Goal} -Robot helps the operator to carry a bag to the car which is parked outside. -% and comes back home. +% \subsection{Focus} +% Object identification and manipulation, person-following, and social navigation. -\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:} 500 pts for carrying the bag to the car's location. +\noindent\textbf{Reward:} 500pts. \subsection{Bonus rewards} \begin{enumerate}[nosep] - \item Coming back home (100 pts). - \item Avoid the obstacles outdoor (100 pts per obstacle, max 400 pts). + \item Reentering the arena (100 pts). + \item Avoid all obstacles (400 pts, 100pts per obstacle). \end{enumerate} \subsection{Setup} -\begin{itemize} +\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 house. - - \item \textbf{Operator}: At the start, the operator is standing in front of the robot. - - \item \textbf{Bags' Location:} There are at least two bags placed between one to two meters away from the operator's start position and both should be visible to the robot. - - \item \textbf{Pointing to the Bag:} When the test starts, the operator points to a bag and requests the robot to carry it to the car. - - \item \textbf{Operator's Bag:} The bag which is pointed is placed such that the robot's hand can reach it. - - \item \textbf{Outdoor Obstacles:} The robot will face four obstacles outside. The obstacles will include a crowd obstructing path, a small 3D object placed on ground, a small moving toy-car, and a small area blocked using retractable barriers. + \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} + \begin{itemize}[nosep] \item Handing-over the bag (-100 pts). - \item Any help in following the operator by requesting 1$)$ natural gestures (like, wave and calling) costs -100pts 2$)$ non-natural gestures (like, raising both hands and jumping) costs -200pts, and 3$)$ touching (like, pulling the robot's hand) costs -400pts. + \item Finding the operator while following her + \begin{itemize}[nosep] + \item Natural interaction (e.g.~wave and calling) 100pts score redutction. + \item Non-natural interaction (e.g.~raising both hands and jumping) 200pts score redutction. + \item Touching the robot (e.g.~pulling the robot's hand) 400pts score redutction. + \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} +\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. @@ -66,11 +74,10 @@ \subsection{Referee instructions} \subsection{OC instructions} 2h before test: -\begin{itemize} +\begin{itemize}[nosep] \item Select and announce the robot's starting point. \item Select which bags will be used. \end{itemize} -% \newpage -% \subsection{Score sheet} -% \input{scoresheets/Receptionist.tex} +\subsection{Score sheet} +\input{scoresheets/CarryMyLuggage.tex} From e77215a831edfb6865543f82b28b6e74696b2ddc Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Tue, 19 Feb 2019 17:55:52 +0100 Subject: [PATCH 50/64] Updated and sorted tests in Rulebook.tex and score_sheets.tex --- Rulebook.tex | 30 ++++++++++++++------------- score_sheets.tex | 54 ++++++++++++++++++++++++++---------------------- 2 files changed, 45 insertions(+), 39 deletions(-) diff --git a/Rulebook.tex b/Rulebook.tex index cf6a2680..00f84823 100644 --- a/Rulebook.tex +++ b/Rulebook.tex @@ -55,47 +55,49 @@ \input{Setup} + + + \chapter{Tests in Stage I} \label{chap:stage_I} +\newpage +\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/Receptionist} \newpage \input{tasks/ServingDrinks} \newpage -\input{tasks/FindMyMates} +\input{tasks/StoringGroceries} \newpage -\input{tasks/CarryMyLuggage} -% \newpage -% \input{tasks/ServingBeverages} +\input{tasks/TakeOutGarbage} + + -\newpage -\input{tasks/StoringGroceries} \chapter{Tests in Stage II} \label{chap:stage_II} \newpage \input{tasks/CleanTable} - +\newpage +\input{tasks/GPSR} \newpage \input{tasks/SetTable} - \newpage \input{tasks/SticklerForRules} -\newpage -\input{tasks/GPSR} -\newpage + \input{tests/Finals} + \printabx \printidx diff --git a/score_sheets.tex b/score_sheets.tex index acdd867e..00ee7cca 100644 --- a/score_sheets.tex +++ b/score_sheets.tex @@ -102,43 +102,47 @@ %%% 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}{Recepcionist} +\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 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% From edc26397dfa16703fa0569111dd329e919c492a8 Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Tue, 19 Feb 2019 18:08:52 +0100 Subject: [PATCH 51/64] Rework Farewell test - Shrink to fit 1 page - Add scoresheet - Add coat rack to objects section in General Rules - Shortedn descriptions - Replaced percentages with points --- general_rules/Scenario.tex | 1 + scoresheets/Farewell.tex | 24 ++++++++++++++++++ tasks/Farewell.tex | 52 +++++++++++++++++--------------------- 3 files changed, 48 insertions(+), 29 deletions(-) create mode 100644 scoresheets/Farewell.tex diff --git a/general_rules/Scenario.tex b/general_rules/Scenario.tex index de47ad5d..a70fdf8a 100644 --- a/general_rules/Scenario.tex +++ b/general_rules/Scenario.tex @@ -164,6 +164,7 @@ \subsection{List of Predefined Objects} \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{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. diff --git a/scoresheets/Farewell.tex b/scoresheets/Farewell.tex new file mode 100644 index 00000000..b2a8f413 --- /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 successfuly 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/tasks/Farewell.tex b/tasks/Farewell.tex index b1a81492..00ae0419 100644 --- a/tasks/Farewell.tex +++ b/tasks/Farewell.tex @@ -1,62 +1,57 @@ \section{Farewell [Party Host]} -It's raining outside. The robot takes tired guests to their cab. Ladies go first. +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} -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. - +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} \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} \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} \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} @@ -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} From a3d15b5b66aa8f8e30826c03b252fb30eca3a840 Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Tue, 19 Feb 2019 22:36:12 +0100 Subject: [PATCH 52/64] Buff Tind my Mates task - Shorten some descriptions - Add scoresheet --- scoresheets/FindMyMates.tex | 20 ++++++++++++++++++++ tasks/FindMyMates.tex | 19 +++++++++---------- 2 files changed, 29 insertions(+), 10 deletions(-) create mode 100644 scoresheets/FindMyMates.tex 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/tasks/FindMyMates.tex b/tasks/FindMyMates.tex index 471182bb..3fffc0b1 100644 --- a/tasks/FindMyMates.tex +++ b/tasks/FindMyMates.tex @@ -4,14 +4,13 @@ \section{Find My Mates [Party Host]} \subsection{Main Goal} +Report to the operator the description and location of at least two party guests. -The robot reports to the operator the description and location of at least two party guests. - -\noindent\textbf{Reward:} 500 points (150 pts for description and 100 pts for location per guest). +\noindent\textbf{Reward:} 500 points (250pts per guest). \subsection{Bonus rewards} \begin{enumerate}[nosep] - \item For reporting the third guest, 300 pts for description and 200 pts for location. + \item Reporting the location and description of a third guest (500pts). \end{enumerate} @@ -19,7 +18,7 @@ \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}: 4 people distributed in the room. + \item \textbf{People}: There are 4 people distributed along the room. \end{itemize} \subsection{Additional rules and remarks} @@ -33,9 +32,9 @@ \subsection{Additional rules and remarks} \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 a person may include information about gender, clothing, skin, face, hair, pose, etc. It should be a unique description i.e.~not shared with any other guest. + \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{Description of Location:} The robot provides relative location of a person in the room i.e.~with respect to the objects in the room (like, \textit{Person X} is sitting on the coach, \textit{Person Y} is standing beside the lamp, 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} @@ -43,6 +42,7 @@ \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} @@ -52,10 +52,9 @@ \subsection{OC instructions} 2h before test: \begin{itemize} \item Announce the location where the robot will be instructed. - \item Assign names to the guests. \item Announce the room in which the test takes place. \end{itemize} % \newpage -% \subsection{Score sheet} -% \input{scoresheets/Receptionist.tex} +\subsection{Score sheet} +\input{scoresheets/FindMyMates.tex} From d0bc572218442a1deffea586d193927adf6e1aec Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Tue, 19 Feb 2019 22:59:58 +0100 Subject: [PATCH 53/64] Buff Receptionist task --- scoresheets/Receptionist.tex | 9 ++++++--- tasks/Receptionist.tex | 32 ++++++++++++++++---------------- 2 files changed, 22 insertions(+), 19 deletions(-) diff --git a/scoresheets/Receptionist.tex b/scoresheets/Receptionist.tex index 2826664a..c7e96b16 100644 --- a/scoresheets/Receptionist.tex +++ b/scoresheets/Receptionist.tex @@ -2,9 +2,12 @@ \begin{scorelist} \scoreheading{Main Goal} - \scoreitem[2]{250}{Robot takes the guest to the living room, introduce him/her, and offer an unoccupied place to sit.} - \penaltyitem[2]{-50}{Using misunderstood name of a guest} - + \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} diff --git a/tasks/Receptionist.tex b/tasks/Receptionist.tex index 0a8102e2..b0a7b05e 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} % 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. +Introduce and allocate two newcomers in a party. \noindent\textbf{Reward:} 500pts (250pts per guest). \subsection{Bonus rewards} \begin{enumerate}[nosep] - \item Opening the entrance door to a guest (200pts each, max 400pts) - \item Sitting the oldest person on a sofa (100pts) + \item Opening the entrance door to a guest (200pts each) + \item Sit the oldest person on a sofa (100pts) \end{enumerate} \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} \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. @@ -52,7 +51,7 @@ \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} @@ -61,9 +60,10 @@ \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} From 526e66926c51abc45045634fd65f04e6978ee5fa Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Tue, 19 Feb 2019 23:13:35 +0100 Subject: [PATCH 54/64] Buff Serving Drinks task - Shrink description of main goal - Replaced percentages with scores - Add scoresheet --- scoresheets/ServingDrinks.tex | 18 ++++++++++++++++++ tasks/ServingDrinks.tex | 17 ++++++++--------- 2 files changed, 26 insertions(+), 9 deletions(-) create mode 100644 scoresheets/ServingDrinks.tex 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/tasks/ServingDrinks.tex b/tasks/ServingDrinks.tex index cc09d613..d0f376e8 100644 --- a/tasks/ServingDrinks.tex +++ b/tasks/ServingDrinks.tex @@ -6,8 +6,7 @@ \section{Serving Drinks [Party Host]} % 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. +Deliver a drink to all people without one. \noindent\textbf{Reward:} 750pts (250pts per delivered drink). @@ -30,7 +29,7 @@ \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} @@ -43,11 +42,11 @@ \subsection{Additional rules and remarks} \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. @@ -65,7 +64,7 @@ \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 @@ -81,5 +80,5 @@ \subsection{OC instructions} \end{itemize} % \newpage -% \subsection{Score sheet} -% \input{scoresheets/ServingDrinks.tex} +\subsection{Score sheet} +\input{scoresheets/ServingDrinks.tex} From 41957d8451c2abdced2a45b15e5f149ee4bbaa6f Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Tue, 19 Feb 2019 23:18:13 +0100 Subject: [PATCH 55/64] Buff Storing Groceries test --- tasks/StoringGroceries.tex | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/tasks/StoringGroceries.tex b/tasks/StoringGroceries.tex index c8fe3be0..5fd02024 100644 --- a/tasks/StoringGroceries.tex +++ b/tasks/StoringGroceries.tex @@ -1,16 +1,14 @@ \section{Storing Groceries [Housekeeper]} -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. +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} % 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 objects from a table into a shelf. Objects must be placed next to objects of the same category or grouped by similarity. +Move objects 5 from a table into a shelf, grouping them by category or similarity. \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} \begin{enumerate}[nosep] \item Opening the shelf door (300pts) @@ -34,7 +32,7 @@ \subsection{Setup} \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 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. + \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} @@ -47,7 +45,7 @@ \subsection{Additional rules and remarks} \begin{enumerate} \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 30\% point reduction for that object. + \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. @@ -67,7 +65,7 @@ \subsection{Referee instructions} \begin{itemize} \item Place objects in the shelf, grouping them by likeliness. \item Open the door of the shelf. - \item Place 5-10 objects on the table. + \item Place 5--10 objects on the table. \end{itemize} From 5ae7f77b70ff59b2c0e6ed3b4a8c737e69a70b14 Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Wed, 20 Feb 2019 12:31:39 +0100 Subject: [PATCH 56/64] Replaced `\subsection` with `\subsection*` in all Stage I tasks Tasks are now 1 page long, hence there is no need to display subsections in the Table of Contents. Paging was adjusted. --- Rulebook.tex | 3 ++- tasks/CarryMyLuggage.tex | 16 ++++++++-------- tasks/CleanUp.tex | 16 ++++++++-------- tasks/Farewell.tex | 16 ++++++++-------- tasks/FindMyMates.tex | 14 +++++++------- tasks/Receptionist.tex | 16 ++++++++-------- tasks/ServingDrinks.tex | 16 ++++++++-------- tasks/StoringGroceries.tex | 16 ++++++++-------- tasks/TakeOutGarbage.tex | 16 ++++++++-------- 9 files changed, 65 insertions(+), 64 deletions(-) diff --git a/Rulebook.tex b/Rulebook.tex index 00f84823..7178ca9e 100644 --- a/Rulebook.tex +++ b/Rulebook.tex @@ -61,7 +61,8 @@ \chapter{Tests in Stage I} \label{chap:stage_I} -\newpage +% Uncomment to get aesthetic improvement +\cleardoublepage \input{tasks/CarryMyLuggage} \newpage \input{tasks/CleanUp} diff --git a/tasks/CarryMyLuggage.tex b/tasks/CarryMyLuggage.tex index 88ac2eaa..9e8f4db1 100644 --- a/tasks/CarryMyLuggage.tex +++ b/tasks/CarryMyLuggage.tex @@ -1,22 +1,22 @@ \section{Carry My Luggage [Party Host]} The robot helps the operator to carry some luggage to the car which is parked outside. -% \subsection{Focus} +% \subsection*{Focus} % Object identification and manipulation, person-following, and social navigation. -\subsection{Main Goal} +\subsection*{Main Goal} The robot helps the operator to carry a bag to the car parked outside. \noindent\textbf{Reward:} 500pts. -\subsection{Bonus rewards} +\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} +\subsection*{Setup} \begin{itemize}[nosep] \item \textbf{Location}: The test takes place inside and outside the arena. @@ -28,7 +28,7 @@ \subsection{Setup} \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 as follows. \begin{itemize}[nosep] @@ -59,7 +59,7 @@ \subsection{Additional rules and remarks} \end{enumerate} -\subsection{Referee instructions} +\subsection*{Referee instructions} The referees need to \begin{itemize}[nosep] @@ -71,7 +71,7 @@ \subsection{Referee instructions} \item Mind the robot when it goes outside the arena. \end{itemize} -\subsection{OC instructions} +\subsection*{OC instructions} 2h before test: \begin{itemize}[nosep] @@ -79,5 +79,5 @@ \subsection{OC instructions} \item Select which bags will be used. \end{itemize} -\subsection{Score sheet} +\subsection*{Score sheet} \input{scoresheets/CarryMyLuggage.tex} diff --git a/tasks/CleanUp.tex b/tasks/CleanUp.tex index c98f3442..dc67df84 100644 --- a/tasks/CleanUp.tex +++ b/tasks/CleanUp.tex @@ -1,15 +1,15 @@ \section{Clean Up [Housekeeper]} 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} +\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 autonomously (200pts) \item Moving a \emph{tiny} object (150pts) @@ -17,14 +17,14 @@ \subsection{Bonus Rewards} \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} -\subsection{Additional Rules and Remarks} +\subsection*{Additional Rules and Remarks} \begin{enumerate}[nosep] \item \textbf{Objects:} Objects can be anywhere, including the floor, seats, and on furniture. @@ -53,7 +53,7 @@ \subsection{Additional Rules and Remarks} \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. @@ -61,11 +61,11 @@ \subsection{Referee instructions} \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 starting location of the robot. \end{itemize} -\subsection{Score sheet} +\subsection*{Score sheet} \input{scoresheets/CleanUp.tex} \ No newline at end of file diff --git a/tasks/Farewell.tex b/tasks/Farewell.tex index 00ae0419..68045c90 100644 --- a/tasks/Farewell.tex +++ b/tasks/Farewell.tex @@ -2,21 +2,21 @@ \section{Farewell [Party Host]} 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} +% \subsection*{Focus} % This test focuses on human detection and recognition, safe navigation and human-robot interaction with unknown people. -\subsection{Main Goal} +\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 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. @@ -25,7 +25,7 @@ \subsection{Setup} \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 (per guest) scoring. @@ -55,7 +55,7 @@ \subsection{Additional rules and remarks} \end{enumerate} -\subsection{Referee instructions} +\subsection*{Referee instructions} The referees need to \begin{itemize} @@ -65,7 +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 @@ -79,5 +79,5 @@ \subsection{OC instructions} \item Help to relocate the Cab Driver \end{itemize} -\subsection{Score sheet} +\subsection*{Score sheet} \input{scoresheets/Farewell.tex} diff --git a/tasks/FindMyMates.tex b/tasks/FindMyMates.tex index 3fffc0b1..b45a830a 100644 --- a/tasks/FindMyMates.tex +++ b/tasks/FindMyMates.tex @@ -3,25 +3,25 @@ \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} +\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} +\subsection*{Bonus rewards} \begin{enumerate}[nosep] \item Reporting the location and description of a third guest (500pts). \end{enumerate} -\subsection{Setup} +\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} +\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} @@ -38,7 +38,7 @@ \subsection{Additional rules and remarks} \end{enumerate} -\subsection{Referee instructions} +\subsection*{Referee instructions} The referees need to \begin{itemize} @@ -47,7 +47,7 @@ \subsection{Referee instructions} \item Make sure people stay at the designated place. \end{itemize} -\subsection{OC instructions} +\subsection*{OC instructions} 2h before test: \begin{itemize} @@ -56,5 +56,5 @@ \subsection{OC instructions} \end{itemize} % \newpage -\subsection{Score sheet} +\subsection*{Score sheet} \input{scoresheets/FindMyMates.tex} diff --git a/tasks/Receptionist.tex b/tasks/Receptionist.tex index b0a7b05e..f6fa5766 100644 --- a/tasks/Receptionist.tex +++ b/tasks/Receptionist.tex @@ -2,22 +2,22 @@ \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. -% \subsection{Focus} +% \subsection*{Focus} % This test focuses on human detection and recognition, safe navigation and human-robot interaction with unknown people. -\subsection{Main Goal} +\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) \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. @@ -27,7 +27,7 @@ \subsection{Setup} \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. @@ -47,7 +47,7 @@ \subsection{Additional rules and remarks} \end{enumerate} -\subsection{Referee instructions} +\subsection*{Referee instructions} The referees need to \begin{itemize} @@ -56,7 +56,7 @@ \subsection{Referee instructions} \item Open the door when requested by the robot \end{itemize} -\subsection{OC instructions} +\subsection*{OC instructions} 2h before test: \begin{itemize} @@ -65,5 +65,5 @@ \subsection{OC instructions} \end{itemize} % \newpage -\subsection{Score sheet} +\subsection*{Score sheet} \input{scoresheets/Receptionist.tex} diff --git a/tasks/ServingDrinks.tex b/tasks/ServingDrinks.tex index d0f376e8..3ba5fc3e 100644 --- a/tasks/ServingDrinks.tex +++ b/tasks/ServingDrinks.tex @@ -1,21 +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} +\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. @@ -35,7 +35,7 @@ \subsection{Setup} -\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. @@ -60,7 +60,7 @@ \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} @@ -72,7 +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} @@ -80,5 +80,5 @@ \subsection{OC instructions} \end{itemize} % \newpage -\subsection{Score sheet} +\subsection*{Score sheet} \input{scoresheets/ServingDrinks.tex} diff --git a/tasks/StoringGroceries.tex b/tasks/StoringGroceries.tex index 5fd02024..d4c57cfd 100644 --- a/tasks/StoringGroceries.tex +++ b/tasks/StoringGroceries.tex @@ -1,15 +1,15 @@ \section{Storing Groceries [Housekeeper]} 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} +\subsection*{Main Goal} Move objects 5 from a table into a shelf, grouping them by category or similarity. \noindent\textbf{Reward:} 500pts (100pts per object).\\ -\subsection{Bonus rewards} +\subsection*{Bonus rewards} \begin{enumerate}[nosep] \item Opening the shelf door (300pts) \item Moving a \emph{tiny} object (100pts) @@ -21,7 +21,7 @@ \subsection{Bonus rewards} % Setup % % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -\subsection{Setup} +\subsection*{Setup} \begin{enumerate} \item \textbf{Location:} The testing area has a shelf and a table nearby. @@ -41,7 +41,7 @@ \subsection{Setup} % Additional Rules % % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -\subsection{Additional rules and remarks} +\subsection*{Additional rules and remarks} \begin{enumerate} \item \textbf{Deus ex Machina:} Score reduction for requesting human assistance is applied per object as follows: \begin{itemize}[nosep] @@ -52,7 +52,7 @@ \subsection{Additional rules and remarks} \end{enumerate} \newpage -\subsection{OC instructions} +\subsection*{OC instructions} \textbf{2 hours before the test} \begin{itemize} @@ -60,7 +60,7 @@ \subsection{OC instructions} \item Announce a rough location for the table. \end{itemize} -\subsection{Referee instructions} +\subsection*{Referee instructions} The referee needs to \begin{itemize} \item Place objects in the shelf, grouping them by likeliness. @@ -70,7 +70,7 @@ \subsection{Referee instructions} \newpage -\subsection{Score sheet} +\subsection*{Score sheet} \input{scoresheets/StoringGroceries.tex} % Local Variables: diff --git a/tasks/TakeOutGarbage.tex b/tasks/TakeOutGarbage.tex index 666a10a3..eb92007f 100644 --- a/tasks/TakeOutGarbage.tex +++ b/tasks/TakeOutGarbage.tex @@ -1,21 +1,21 @@ \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} +\subsection*{Main Goal} The robot takes out the trash bags from the two bins in the apartment. \noindent\textbf{Reward:} 500pts (250pts per bag) -\subsection{Bonus rewards} +\subsection*{Bonus rewards} \begin{enumerate}[nosep] \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 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. @@ -24,7 +24,7 @@ \subsection{Setup} \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 bag as follows: \begin{itemize}[nosep] @@ -37,7 +37,7 @@ \subsection{Additional rules and remarks} \end{enumerate} -\subsection{Referee instructions} +\subsection*{Referee instructions} The referee needs to \begin{itemize} @@ -46,7 +46,7 @@ \subsection{Referee instructions} \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. @@ -57,7 +57,7 @@ \subsection{OC instructions} \item Announce the collection zones. \end{itemize} -\subsection{Score sheet} +\subsection*{Score sheet} \input{scoresheets/TakeOutGarbage.tex} % Local Variables: From 64c4f53c99249bf9c7bd027d98a145d12331eb1d Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Wed, 20 Feb 2019 13:05:25 +0100 Subject: [PATCH 57/64] Aesthetic ammend to scoresheets (minus sign) --- setup/macros_score_sheets.tex | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/setup/macros_score_sheets.tex b/setup/macros_score_sheets.tex index 78aa2f50..5d3ed4a7 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 % %%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % % @@ -388,7 +393,11 @@ } \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]{% @@ -484,7 +493,7 @@ \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}% From c2377555c732a86fa821a7afc12435ebe575c57d Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Wed, 20 Feb 2019 13:05:25 +0100 Subject: [PATCH 58/64] Aesthetic amend to scoresheets (minus sign) - Adds \scorebonus as alias of \bonusitem - Adds \scorepenalty as alias of \penaltyitem --- setup/macros_score_sheets.tex | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/setup/macros_score_sheets.tex b/setup/macros_score_sheets.tex index 5d3ed4a7..bf374ab9 100644 --- a/setup/macros_score_sheets.tex +++ b/setup/macros_score_sheets.tex @@ -404,6 +404,12 @@ \@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 %%%%%%%%%%%%%%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% From e64e42692a6ffd943fb406192caab4daaf250683 Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Wed, 20 Feb 2019 14:55:37 +0100 Subject: [PATCH 59/64] Add GPSR test for Stage I Test design based on @justinhart's #529 and @johaq's #558 --- Rulebook.tex | 6 ++-- score_sheets.tex | 5 +++ scoresheets/GPSR.tex | 10 +++--- tasks/GPSR.tex | 76 ++++++++++++++++++++++++++------------------ 4 files changed, 60 insertions(+), 37 deletions(-) diff --git a/Rulebook.tex b/Rulebook.tex index 7178ca9e..601d62f4 100644 --- a/Rulebook.tex +++ b/Rulebook.tex @@ -71,6 +71,8 @@ \chapter{Tests in Stage I} \newpage \input{tasks/FindMyMates} \newpage +\input{tasks/GPSR} +\newpage \input{tasks/Receptionist} \newpage \input{tasks/ServingDrinks} @@ -87,8 +89,8 @@ \chapter{Tests in Stage II} \newpage \input{tasks/CleanTable} -\newpage -\input{tasks/GPSR} +% \newpage +% \input{tasks/EGPSR} \newpage \input{tasks/SetTable} \newpage diff --git a/score_sheets.tex b/score_sheets.tex index 00ee7cca..d227730a 100644 --- a/score_sheets.tex +++ b/score_sheets.tex @@ -124,6 +124,11 @@ \input{scoresheets/FindMyMates} \end{scoresheet} +\renewcommand{\currentTest}{General Purpose Service Robot} +\begin{scoresheet} +\input{scoresheets/GPSR} +\end{scoresheet} + \renewcommand{\currentTest}{Recepcionist} \begin{scoresheet} \input{scoresheets/Receptionist} diff --git a/scoresheets/GPSR.tex b/scoresheets/GPSR.tex index 619c0b6e..58e61116 100644 --- a/scoresheets/GPSR.tex +++ b/scoresheets/GPSR.tex @@ -1,12 +1,14 @@ -The maximum time for this test is \textbf{10 minutes}. +The maximum time for this test is 5 minutes. \begin{scorelist} \scoreheading{Main Goal} - \scoreitem[5]{325}{Perform each task} + \scoreitem[3]{250}{Perform each task} + \penaltyitem[3]{50}{Using custom operator or bypassing ASR} \scoreheading{Bonus rewards} - \scoreitem[5]{150}{Respond to free-form English commands} - \scoreitem{125}{Coming when called} + \scoreitem[3]{100}{Understand command given by naive operator} + \scoreitem[3]{100}{Provide audio recording and transcript} + \scoreitem{150}{Autonomously leaving the arena} %\setTotalScore{1000} \end{scorelist} diff --git a/tasks/GPSR.tex b/tasks/GPSR.tex index 56b0dedc..e513283a 100644 --- a/tasks/GPSR.tex +++ b/tasks/GPSR.tex @@ -1,18 +1,19 @@ \section{General Purpose Service Robot [Housekeeper]} Similar to a modern smart-speaker, the robot can be asked to do anything, in plain English, from this rulebook or any previous rulebook. -% \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} -Understand and act on verbal instructions from home occupants and perform those tasks. +\subsection*{Main Goal} +Execute each of the 3 commands requested by the operator. -\noindent\textbf{Reward:} 2500pts (325 points per task)\\ +\noindent\textbf{Reward:} 750pts (250 points per command)\\ -\subsection{Bonus rewards} +\subsection*{Bonus rewards} \begin{enumerate}[nosep] - \item Free-form English commands. The team may ask the commands to be re-worded from the generated command, in order to test more advanced natural language processing. (150 pts, each) - \item Coming when called. Robot should come to the same room as the operator when requested with, \textit {, I need help!}. (125pts) + \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} % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -20,48 +21,61 @@ \subsection{Bonus rewards} % Setup % % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -\subsection{Setup} -\begin{enumerate} - \item \textbf{Home:} An area in the arena is marked as the \textit{home} for the robot, which it goes to when it is not in use. +\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{Operators:} Three people in the arena will give tasks to the robot. + \item \textbf{Start location:} The robot starts outside the arena. When the door opens, the robot moves towards the \textit{Instruction Point}. - \item \textbf{Object and Operator Placements:} Operators will instruct the robot to perform tasks in the various rooms of the home. Tasks should be pre-generated and the operators and items should be in the correct places before the round starts. + \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} - \item \textbf{Task Generation:} Tasks will be generated using a generator which will be released no fewer than 3 months prior to the competition. -\end{enumerate} +\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. -\newpage -\subsection{OC instructions} + \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] -\textbf{5 hours+ before the test} -\begin{itemize} - \item Choose a home location for the robot and inform teams of this location, -\end{itemize} + \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 pts 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 notecards with tasks on them. Hide from the teams. - \item Recruit home occupants to provide instructions to the robots. +\begin{itemize}[nosep] + \item Pregenerate and conceal commands for the robots. + \item Announce the location of theinstruction 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 Place people and items in correct starting locations before activating the robot. - \item Speak clearly. Follow all appropriate rules for alternative methods of activating the robot as necessary. +\subsection*{Referee instructions} +\begin{itemize}[nosep] + \item Provide the commands to the operators. \end{itemize} -\newpage -\subsection{Score sheet} +\subsection*{Score sheet} \input{scoresheets/GPSR.tex} % Local Variables: From 1f971413946f7d0026694f9558540a610057305f Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Wed, 20 Feb 2019 15:49:39 +0100 Subject: [PATCH 60/64] Buff Clean Table (dishwasher) task, add scoresheet, and prepares Stage II --- score_sheets.tex | 54 +++++++++++++++----------------------- scoresheets/CleanTable.tex | 23 ++++++++++++++++ tasks/CleanTable.tex | 28 +++++++++++++------- 3 files changed, 62 insertions(+), 43 deletions(-) create mode 100644 scoresheets/CleanTable.tex diff --git a/score_sheets.tex b/score_sheets.tex index d227730a..7a6cb508 100644 --- a/score_sheets.tex +++ b/score_sheets.tex @@ -151,57 +151,45 @@ % %%% STAGE II %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -\renewcommand{\attempts}{2} %%% STAGE 2 TESTS GO HERE %%% +% EGPSR +% \renewcommand{\currentTest}{Enhanced General Purpose Service Robot} +% \begin{scoresheet} +% \input{scoresheets/EGPSR.tex} +% \end{scoresheet} -% EEGPSR -\renewcommand{\currentTest}{EEGPSR} +\renewcommand{\currentTest}{Clean the Table} \begin{scoresheet} -\input{scoresheets/EEGPSR.tex} +\input{scoresheets/CleanTable.tex} \end{scoresheet} -% THIS IS REMOVED FROM 2019 RULE BOOK -% Open Challenge -%\renewcommand{\currentTest}{Open Challenge} -%\begin{scoresheet} -%\input{scoresheets/OpenChallenge.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} -\begin{scoresheet} -\input{scoresheets/Restaurant.tex} -\end{scoresheet} - -% Tour Guide -\ifSSPL{ - \renewcommand{\currentTest}{Tour Guide} - \begin{scoresheet} - \input{scoresheets/TourGuide.tex} - \end{scoresheet} -} +% \renewcommand{\currentTest}{Set the Table} +% \begin{scoresheet} +% \input{scoresheets/SetTable.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/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/tasks/CleanTable.tex b/tasks/CleanTable.tex index f454b066..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. @@ -31,8 +31,16 @@ \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. @@ -42,7 +50,7 @@ \subsection{Additional rules and remarks} \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" From 08c191aff4bfc55a0a33a6591b8695022b858c83 Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Wed, 20 Feb 2019 17:48:06 +0100 Subject: [PATCH 61/64] Add EGPSR task to Stage 2 Task based on @justinhart #529 --- Rulebook.tex | 4 +- score_sheets.tex | 12 +++--- scoresheets/EEGPSR.tex | 37 ------------------ scoresheets/EGPSR.tex | 20 ++++++++++ tasks/EGPSR.tex | 89 ++++++++++++++++++++++++++++++++++++++++++ 5 files changed, 117 insertions(+), 45 deletions(-) delete mode 100644 scoresheets/EEGPSR.tex create mode 100644 scoresheets/EGPSR.tex create mode 100644 tasks/EGPSR.tex diff --git a/Rulebook.tex b/Rulebook.tex index 601d62f4..58865bd8 100644 --- a/Rulebook.tex +++ b/Rulebook.tex @@ -89,8 +89,8 @@ \chapter{Tests in Stage II} \newpage \input{tasks/CleanTable} -% \newpage -% \input{tasks/EGPSR} +\newpage +\input{tasks/EGPSR} \newpage \input{tasks/SetTable} \newpage diff --git a/score_sheets.tex b/score_sheets.tex index 7a6cb508..a77d8582 100644 --- a/score_sheets.tex +++ b/score_sheets.tex @@ -154,17 +154,17 @@ %%% STAGE 2 TESTS GO HERE %%% -% EGPSR -% \renewcommand{\currentTest}{Enhanced General Purpose Service Robot} -% \begin{scoresheet} -% \input{scoresheets/EGPSR.tex} -% \end{scoresheet} - \renewcommand{\currentTest}{Clean the Table} \begin{scoresheet} \input{scoresheets/CleanTable.tex} \end{scoresheet} +% EGPSR +\renewcommand{\currentTest}{Enhanced General Purpose Service Robot} +\begin{scoresheet} +\input{scoresheets/EGPSR.tex} +\end{scoresheet} + % \renewcommand{\currentTest}{Restaurant} % \begin{scoresheet} % \input{scoresheets/Restaurant.tex} 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/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: From 0ad63bb2f311079bb120aeccb9c8d4d6b4a78865 Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Wed, 20 Feb 2019 17:55:09 +0100 Subject: [PATCH 62/64] Fix typos and spelling errors --- extra_dict.pws | 3 ++- score_sheets.tex | 2 +- scoresheets/Farewell.tex | 2 +- tasks/CarryMyLuggage.tex | 6 +++--- tasks/GPSR.tex | 8 ++++---- 5 files changed, 11 insertions(+), 10 deletions(-) diff --git a/extra_dict.pws b/extra_dict.pws index acfcfa9b..6795f10c 100644 --- a/extra_dict.pws +++ b/extra_dict.pws @@ -192,4 +192,5 @@ pts outliers OSL rulebook -notecards \ No newline at end of file +rulebooks +EGPSR \ No newline at end of file diff --git a/score_sheets.tex b/score_sheets.tex index a77d8582..0a71e22e 100644 --- a/score_sheets.tex +++ b/score_sheets.tex @@ -129,7 +129,7 @@ \input{scoresheets/GPSR} \end{scoresheet} -\renewcommand{\currentTest}{Recepcionist} +\renewcommand{\currentTest}{Receptionist} \begin{scoresheet} \input{scoresheets/Receptionist} \end{scoresheet} diff --git a/scoresheets/Farewell.tex b/scoresheets/Farewell.tex index b2a8f413..445ee226 100644 --- a/scoresheets/Farewell.tex +++ b/scoresheets/Farewell.tex @@ -3,7 +3,7 @@ \begin{scorelist} \scoreheading{Main Goal} - \scoreitem[2]{300}{Each guest successfuly guided to her cab} + \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} diff --git a/tasks/CarryMyLuggage.tex b/tasks/CarryMyLuggage.tex index 9e8f4db1..95f49384 100644 --- a/tasks/CarryMyLuggage.tex +++ b/tasks/CarryMyLuggage.tex @@ -35,9 +35,9 @@ \subsection*{Additional rules and remarks} \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 redutction. - \item Non-natural interaction (e.g.~raising both hands and jumping) 200pts score redutction. - \item Touching the robot (e.g.~pulling the robot's hand) 400pts score redutction. + \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} diff --git a/tasks/GPSR.tex b/tasks/GPSR.tex index e513283a..07880129 100644 --- a/tasks/GPSR.tex +++ b/tasks/GPSR.tex @@ -1,5 +1,5 @@ \section{General Purpose Service Robot [Housekeeper]} -Similar to a modern smart-speaker, the robot can be asked to do anything, in plain English, from this rulebook or any previous rulebook. +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. @@ -54,14 +54,14 @@ \subsection*{Additional rules and remarks} \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 pts can be earned if the robot autonomously leaves the arena after successfully executing all three given commands. + \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 Pregenerate and conceal commands for the robots. - \item Announce the location of theinstruction point. + \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} From 8314072b4a49f8659e4fab5b2ca5c352b668740f Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Wed, 20 Feb 2019 18:12:16 +0100 Subject: [PATCH 63/64] Buff Set the Table task and add scoresheet --- score_sheets.tex | 8 +++---- scoresheets/SetTable.tex | 23 ++++++++++++++++++ tasks/SetTable.tex | 51 +++++++++++++++++++++++----------------- 3 files changed, 57 insertions(+), 25 deletions(-) create mode 100644 scoresheets/SetTable.tex diff --git a/score_sheets.tex b/score_sheets.tex index 0a71e22e..88b65175 100644 --- a/score_sheets.tex +++ b/score_sheets.tex @@ -170,10 +170,10 @@ % \input{scoresheets/Restaurant.tex} % \end{scoresheet} -% \renewcommand{\currentTest}{Set the Table} -% \begin{scoresheet} -% \input{scoresheets/SetTable.tex} -% \end{scoresheet} +\renewcommand{\currentTest}{Set the Table} +\begin{scoresheet} +\input{scoresheets/SetTable.tex} +\end{scoresheet} % \renewcommand{\currentTest}{Stickler for Rules} % \begin{scoresheet} 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/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" From edc6ca397e6f397eadb9c9b26d06f213c05d82c5 Mon Sep 17 00:00:00 2001 From: Mauricio Matamoros Date: Wed, 20 Feb 2019 18:56:11 +0100 Subject: [PATCH 64/64] Buff Sticker for the rules (aka RoboCop) --- score_sheets.tex | 8 +-- ...SticklerRules.tex => SticklerForRules.tex} | 0 tasks/SticklerForRules.tex | 58 ++++++++++++------- 3 files changed, 40 insertions(+), 26 deletions(-) rename scoresheets/{SticklerRules.tex => SticklerForRules.tex} (100%) diff --git a/score_sheets.tex b/score_sheets.tex index 88b65175..f6589a25 100644 --- a/score_sheets.tex +++ b/score_sheets.tex @@ -175,10 +175,10 @@ \input{scoresheets/SetTable.tex} \end{scoresheet} -% \renewcommand{\currentTest}{Stickler for Rules} -% \begin{scoresheet} -% \input{scoresheets/SticklerForRules} -% \end{scoresheet} +\renewcommand{\currentTest}{Stickler for Rules} +\begin{scoresheet} +\input{scoresheets/SticklerForRules} +\end{scoresheet} % %%% FINALS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/scoresheets/SticklerRules.tex b/scoresheets/SticklerForRules.tex similarity index 100% rename from scoresheets/SticklerRules.tex rename to scoresheets/SticklerForRules.tex diff --git a/tasks/SticklerForRules.tex b/tasks/SticklerForRules.tex index a8688d3e..631b0ad6 100644 --- a/tasks/SticklerForRules.tex +++ b/tasks/SticklerForRules.tex @@ -1,41 +1,55 @@ -\section{Stickler for the Rules [Party Host]} +\section{Stickler for the Rules (aka RoboCop) [Party Host]} The robot has to enforce house rules set by the homeowner. -\subsection{Main Goal} -The robot has to identify when party guests are breaking rules and politely ask them to stop. +\subsection*{Main Goal} +Identify all party guests breaking the house rules and politely ask them to stop. -\noindent\textbf{Reward:} 750pts (250pts per recognized rule breaking). +\noindent\textbf{Reward:} 750pts (250pts per offender). -\subsection{Bonus rewards} +\subsection*{Bonus rewards} \begin{enumerate}[nosep] - \item Instruct guest how to not break the rules anymore and confirm if they do. 750pts (250pts each) + \item Remind offenders the house rules and confirm obedience (750pts, 250pts each). \end{enumerate} -\subsection{Setup} +\subsection*{Setup} \begin{itemize}[nosep] \item \textbf{Location:} This test takes place in the arena. - \item \textbf{Guests:} There are 5 party guests inside the arena. + \item \textbf{Guests:} There are at least 5 party guests inside the arena. \end{itemize} -\subsection{Additional rules and remarks} +\subsection{House Rules:} \begin{enumerate}[nosep] - \item Three of the guests are breaking rules - \item The guests may or may not follow the robot's instructions - \item To get the bonus rewards the robot has to state when a guest did or did not follow their instructions. +% \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} -\textbf{House Rules:} +\subsection*{Additional rules and remarks} \begin{enumerate}[nosep] - \item No shoes allowed inside the house. All guests have to take off their shoes near the entrance. - Show guest the entrance and check if they take off their shoes. - \item No guests are allowed to enter one of the rooms in the house. - Show guest a room with other party guests and make sure the guest does not go back. - \item Guests are not allowed to leave garbage on the floor. - Make sure they pick up the garbage and show them a bin to throw it into. - \item All guests must have a drink in hand at all times. - Show the guest the kitchen/bar and make sure they grab a drink. + \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} +\subsection*{Referee instructions} The referee needs to \begin{itemize} @@ -43,15 +57,15 @@ \subsection{Referee instructions} \item Assign each party guest a drink \end{itemize} -\subsection{OC instructions} +\subsection*{OC instructions} During Setup days: \begin{itemize} - \item Announce which room guests are not allowed to enter. + \item Announce which room is the \textit{Black Room}. \end{itemize} \newpage -\subsection{Score sheet} -\input{scoresheets/SticklerRules.tex} +\subsection*{Score sheet} +\input{scoresheets/SticklerForRules.tex} % Local Variables: % TeX-master: "Rulebook"