From aac1a38540dd0cfdc6877ca9c2cf829e19e78392 Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Fri, 18 Jan 2019 12:28:05 +0100 Subject: [PATCH 1/6] 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 06649c28a0969c662464062a9dd37260b2991881 Mon Sep 17 00:00:00 2001 From: Johannes Kummert Date: Fri, 18 Jan 2019 13:58:29 +0100 Subject: [PATCH 2/6] 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 3/6] 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 4/6] 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 773afb035ebd0c05424e41c692845e5e3bab7a7b Mon Sep 17 00:00:00 2001 From: jkummert Date: Wed, 6 Feb 2019 12:27:01 +0100 Subject: [PATCH 5/6] 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 6/6] 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}