[PS] partial scoring for Stage 1 tasks (draft)

rulebook.tex

@@ -1,4 +1,4 @@
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 %%
 %%          $Id: Rulebook.tex 2014-12-12 balkce $
 %%    author(s): RoboCupAtHome Technical Committee(s)
@@ -32,7 +32,6 @@
 %\newcommand{\sectionbreak}{\clearpage}
 %\newcommand{\subsectionbreak}{\clearpage}
 
-
 \begin{document}
 
 \input{./pages/titlepage}

score_sheets.tex

@@ -111,17 +111,17 @@
 
 \renewcommand{\currentTest}{Clean Up}
 \begin{scoresheet}
-\input{scoresheets/CleanUp}
+\input{scoresheets/old_score_sheets/CleanUp}
 \end{scoresheet}
 
 \renewcommand{\currentTest}{Farewell}
 \begin{scoresheet}
-\input{scoresheets/Farewell}
+\input{scoresheets/old_score_sheets/Farewell}
 \end{scoresheet}
 
 \renewcommand{\currentTest}{Find my Mates}
 \begin{scoresheet}
-\input{scoresheets/FindMyMates}
+\input{scoresheets/old_score_sheets/FindMyMates}
 \end{scoresheet}
 
 \renewcommand{\currentTest}{General Purpose Service Robot}
@@ -136,7 +136,7 @@
 
 \renewcommand{\currentTest}{Serving Drinks}
 \begin{scoresheet}
-\input{scoresheets/ServingDrinks}
+\input{scoresheets/old_score_sheets/ServingDrinks}
 \end{scoresheet}
 
 \renewcommand{\currentTest}{Serve the Breakfast}
@@ -151,7 +151,7 @@
 
 \renewcommand{\currentTest}{Take out Garbage}
 \begin{scoresheet}
-\input{scoresheets/TakeOutGarbage}
+\input{scoresheets/old_score_sheets/TakeOutGarbage}
 \end{scoresheet}
 
 
@@ -172,17 +172,17 @@
 
 \renewcommand{\currentTest}{Find my Disk}
 \begin{scoresheet}
-\input{scoresheets/FindMyDisk.tex}
+\input{scoresheets/old_score_sheets/FindMyDisk.tex}
 \end{scoresheet}
 
 \renewcommand{\currentTest}{Hand me That}
 \begin{scoresheet}
-\input{scoresheets/HandMeThat.tex}
+\input{scoresheets/old_score_sheets/HandMeThat.tex}
 \end{scoresheet}
 
 \renewcommand{\currentTest}{Set the Table}
 \begin{scoresheet}
-\input{scoresheets/SetTable.tex}
+\input{scoresheets/old_score_sheets/SetTable.tex}
 \end{scoresheet}
 
 \renewcommand{\currentTest}{Restaurant}
@@ -192,7 +192,7 @@
 
 \renewcommand{\currentTest}{Smoothie Chef}
 \begin{scoresheet}
-\input{scoresheets/SmoothieChef.tex}
+\input{scoresheets/old_score_sheets/SmoothieChef.tex}
 \end{scoresheet}
 
 \renewcommand{\currentTest}{Stickler for Rules}
@@ -202,7 +202,7 @@
 
 \renewcommand{\currentTest}{Where is this}
 \begin{scoresheet}
-\input{scoresheets/WhereIsThis.tex}
+\input{scoresheets/old_score_sheets/WhereIsThis.tex}
 \end{scoresheet}
 
 % %%% FINALS   %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

scoresheets/CarryMyLuggage.tex

@@ -3,21 +3,28 @@
 
 \begin{scorelist}
 	\scoreheading{Main Goal}
-	\scoreitem{100}{Picking up the correct bag}
-	\scoreitem{300}{Following the person to the car}
+    \scoreitem{15}{Perceiving the correct beg (visualize on screen or say which one)}
+	\scoreitem{30}{Picking up the correct bag}
+	\scoreitem{100}{Following the person to the car}
     \scoreitem{50}{Avoiding the crowd of people obstructing the path}
 	\scoreitem{50}{Avoiding the small object on the ground}
 	\scoreitem{50}{Avoiding the hard-to-see object}
 	\scoreitem{50}{Avoiding the area blocked with retractable barriers}
-
+
+
+
+    \\
 	\scoreheading{Bonus rewards}
+    \scoreitem{300}{Successful task completion}
 	\scoreitem{100}{Re-entering the arena}
 	\scoreitem{300}{Joining and staying in the queue on the way to the arena}
+
 
-
+    \\
 	\scoreheading{Regular Penalties}
-	\penaltyitem{50}{Dropping the bag}
-
+	\penaltyitem{100}{Dropping the bag}
+
+    \\
 	\scoreheading{Deus Ex Machina Penalties}
 	\penaltyitem{50}{Rediscovering the operator by natural interaction}
 	\penaltyitem{100}{Rediscovering the operator by unnatural interaction}

scoresheets/CleanTable.tex

@@ -1,21 +1,39 @@
+% Reworked on 23. Oct 2023
 The maximum time for this test is 10 minutes.
 
 \begin{scorelist}
-	\scoreheading{Main Goal}
-	\scoreitem[5]{60}{Picking tableware and cutlery for transportation to the dishwasher}
-	\scoreitem[5]{180}{Placing the tableware and cutlery inside the dishwasher}
-
-	\scoreheading{Bonus Rewards}
-	\scoreitem{200}{Opening the dishwasher door}
-	\scoreitem{100}{Pulling out the dishwasher rack}
-	\scoreitem[5]{40}{Placing an item correctly in the dishwasher}
-	\scoreitem{300}{Placing the dishwasher tab inside the dishwasher's hatch intended for the tab}
-
-	\scoreheading{Deus Ex Machina Penalties}
-	\penaltyitem[5]{20}{Pointing at an object or telling the robot where an object is}
-	\penaltyitem[5]{60}{Handing an object over to the robot}
-	\penaltyitem[5]{180}{Placing an object}
+    \scoreheading{Main Goal}
+    \scoreitem{15}{Navigate to the table to pick up items}
+    \scoreitem[2]{30}{Picking tableware (cup, bowl) for transportation to the dishwasher}
+    \scoreitem{50}{Picking up a plate for transportation to the dishwasher}
+    \scoreitem[2]{50}{Picking up cutlery (spoon, fork) for transportation to the dishwasher}
+    \scoreitem[5]{30}{Placing the tableware and cutlery inside the dishwasher}
+    \scoreitem[5]{30}{Placing an item correctly (cleanable, convenient like a human would) in the dishwasher}
+
+    \\
+    \scoreheading{Bonus Goals}
+    \scoreitem[5]{100}{Task completion: for every successful pick \& place of a tableware or cutlery object}
+    \scoreitem{100}{Pulling out the dishwasher rack}
+    \scoreitem{100}{Pushing in the dishwasher rack}
+    \scoreitem{200}{Opening the dishwasher door}
+    \scoreitem{200}{Closing the dishwasher door}
+    \scoreitem{100}{Picking up the dishwasher tab for transportation to the dishwasher}
+    \scoreitem{200}{Placing the dishwasher tab inside the dishwasher's hatch intended for the tab}
+
+	%\scoreitem[5]{40}{Placing an item correctly in the dishwasher}
+
+	%\scoreitem{300}{Placing the dishwasher tab inside the dishwasher's hatch intended for the tab}
+ 	%\scoreitem{150}{Picking up the dishwasher tab for transportation to the dishwasher}
+	%\scoreheading{Deus Ex Machina Penalties}
+  	%\penaltyitem{20}{Pointing at an object or telling the robot where an object is}
+        %\penaltyitem{60}{Handing an object over to the robot}
+        %\penaltyitem{180}{Placing an object for the robot}
+
+	%\penaltyitem[5]{20}{Pointing at an object or telling the robot where an object is}
+	%\penaltyitem[5]{60}{Handing an object over to the robot}	
+	%\penaltyitem[5]{180}{Placing an object for the robot}
 	%\setTotalScore{1000}
+ \\
 \end{scorelist}
 
 

scoresheets/Receptionist.tex

@@ -1,24 +1,34 @@
+
 The maximum time for this test is 5 minutes.
 
 \begin{scorelist}[startbutton=false]
 	\scoreheading{Main Goal}
-	\scoreitem[2]{250}{Introduce a new guest to every other guest and offer a seat}
-	\scoreitem{50}{Look at the person talking}
-	\scoreitem{50}{Look at the person the robot is introducing the guest to}
-	\scoreitem{50}{Look in the direction of navigation}
-	\penaltyitem[2]{50}{Continue with wrong name or drink}
-	\penaltyitem[2]{50}{Persistent inappropriate gaze - away from conversational partner}
-	\penaltyitem[1]{50}{Persistent gaze not in the direction of the navigation while moving}
-
-	\scoreheading{Bonus Rewards}
-	\scoreitem[2]{100}{Open the entrance door for a guest}
-	\scoreitem{150}{Describe the first guest to the second guest}
-
-	\scoreheading{Deus Ex Machina}
-	\penaltyitem[2]{75}{Alternative HRI}
-	\penaltyitem[2]{200}{Not recognizing people}
+    \scoreitem[2]{15}{Navigate to the door, when the door bell rings}
+    \scoreitem[2]{15}{Guide the guest to the other guests (navigate to the guest group)}
+    \scoreitem[2]{10}{Look in the direction of navigation or at the navigation goal.}
+    \scoreitem[2]{50}{Introduce a new guest to every other guest}
+    \scoreitem[2]{50}{Offer a free seat to the new guest}
+	\scoreitem[2]{50}{Look at the person talking}
+	\scoreitem[2]{50}{Look at the person the robot is introducing the guest to}
+
 
-
+    \\
+ 	\scoreheading{Bonus Rewards}
+    \scoreitem[2]{200}{Successful task completion per guest}
+    \scoreitem{100}{Open the door for the guest}
+ 	\scoreitem{100}{Describe the first guest to the second guest}
+
+    % We are putting a special focus on doing each subtask by penaltizing not doing it. This is not really consistent with the rest of the rulebook.
+        \\
+    \scoreheading{Penalties}
+    \penaltyitem{50}{Wrong guest information was memorized (continue with wrong name or drink)}
+    \penaltyitem{50}{Persistent inappropriate gaze (away from conversational partner)}
+    \penaltyitem{10}{Persistent gaze not in the direction of the navigation while moving.}
+
+	\\
+	\scoreheading{Deus Ex Machina}
+    \penaltyitem{75}{Alternative HRI}
+    \penaltyitem{200}{Not recognizing people}
 
 \end{scorelist}
 

scoresheets/Restaurant.tex

@@ -9,15 +9,20 @@
 	\scoreitem[2]{100}{Detect calling or waving customer}
 	\scoreitem[2]{100}{Reach a customer's table without prior guidance/training}
 
-	\scoreitem[2]{600}{Take and serve an order.}
-
+	\scoreitem[2]{300}{Take an order.}
+    \scoreitem[2]{300}{Serve an order.}
+
+    \\
 	\scoreheading{Bonus Rewards}
+%    \scoreitem[2]{100}{Task completion: take and serve an order.}
 	\scoreitem[2]{200}{Use an unattached tray to transport}
-
+
+    \\
 	\scoreheading{Regular Penalties}
 	\penaltyitem[2]{100}{Not making eye-contact when taking an order}
 
-	\scoreheading{Deus ex Machina Penalties}
+    \\
+    \scoreheading{Deus ex Machina Penalties}
 	\penaltyitem[2]{200}{Being guided to a table}
 	\penaltyitem[4]{100}{Asking the Barman to handover object to the robot}
 	\penaltyitem[4]{100}{Guest needing to take the object from a tray or the robot's hand}

scoresheets/ServeBreakfast.tex

@@ -2,24 +2,36 @@
 
 \begin{scorelist}
 	\scoreheading{Main Goal}
-	\scoreitem[4]{15}{Picking up breakfast items for transportation to the table}
-	\scoreitem[4]{60}{Placing breakfast items on the table}
-	\scoreitem{300}{Pouring cereal into the bowl}
-
+    \scoreitem{15}{Initial navigation to pick up area}
+    \scoreitem[4]{15}{Perceiving object and categorising it correctly (visualize or say)}
+    \scoreitem[4]{30}{Picking up breakfast items for transportation to the table}
+    %\scoreitem[4]{10}{Navigate with the item to the placing table} -> removed due to feedback: "rotation is sometimes enough to face the table that shouldn't give extra points"
+    %\scoreitem[4]{15}{Picking up breakfast items for transportation to the table}
+	\scoreitem[4]{30}{Placing breakfast items on the table}
+    %\scoreitem[4]{60}{Placing breakfast items on the table}
+	\scoreitem{100}{Pouring cereal into the bowl}
+
+
+    \\
 	\scoreheading{Bonus Rewards}
-	\scoreitem{300}{Pouring milk into the bowl}
+    \scoreitem[4]{100}{Task completion: Every successfully completed pick \& place action}
+	\scoreitem{100}{Pouring milk into the bowl}
 	\scoreitem{100}{Placing a spoon next to the bowl}
 
+    \\
 	\scoreheading{Regular Penalties}
 	\penaltyitem[4]{30}{Throwing or dropping an object on the table}
-	\penaltyitem{100}{Spilling cereal while pouring}
-	\penaltyitem{150}{Spilling milk while pouring}
+    %\penaltyitem{100}{Spilling cereal while pouring}
+	\penaltyitem{50}{Spilling cereal while pouring}
+    %\penaltyitem{150}{Spilling milk while pouring}
+	\penaltyitem{50}{Spilling milk while pouring}
 
+    \\
 	\scoreheading{Deus Ex Machina Penalties}
 	\penaltyitem[4]{5}{Pointing at an object}
-	\penaltyitem[4]{15}{Handing an object over to the robot}
+	\penaltyitem[4]{20}{Handing an object over to the robot}
 	\penaltyitem[4]{60}{A human placing an object on the table}
-	\penaltyitem{300}{A human pouring cereal in the bowl}
+	\penaltyitem{100}{A human pouring cereal in the bowl}
 
 	%\setTotalScore{1000}
 \end{scorelist}

scoresheets/SticklerForRules.tex

@@ -13,12 +13,15 @@
 	\scoreitem[4]{100}{Making eye-contact, politely clarify to the guest what action he should take.}
 	\scoreitem[4]{200}{Confirm that the guest is following the rule.}
 
+    \\
 	\scoreheading{Bonus Rewards}
 	\scoreitem[4]{100}{Making eye-contact, politely clarify to the guest what rule is being broken.}
 
+    \\
 	\scoreheading{Regular Penalties}
 	\penaltyitem[4]{100}{Talking to a guest about a rule they are not breaking}
-
+
+    \\
 	\scoreheading{Deus ex Machina Penalties}
 	\penaltyitem[4]{50}{A human directs the robot towards a guest who is breaking a rule}
 	\penaltyitem[4]{100}{A human tells the robot which rule is being broken}

scoresheets/StoringGroceries.tex

@@ -3,22 +3,30 @@
 
 \begin{scorelist}
 	\scoreheading{Main Goal}
+    \scoreitem{15}{Navigating to the table} 
+    \scoreitem[5]{15}{Perceiving object and categorising it correctly (visualize or say)}
 	\scoreitem[5]{30}{Picking up an object for transportation to the cabinet}
-	\scoreitem[5]{90}{Moving an object next to similar objects on the cabinet}
-
+    %placing is split in 2 here in order to emphasize the importance of correct placing
+    \scoreitem[5]{15}{Perceiving objects in shelf and saying on which layer the currently handled object should be placed (visualize or say)}
+	\scoreitem[5]{15}{Placing an object in the cabinet}
+    \scoreitem[5]{30}{Placing an object next to similar objects on the cabinet}
+    \\
 	\scoreheading{Bonus Rewards}
-	\scoreitem{200}{Opening the cabinet door without human help}
+    %alternative approach to groups?
+    \scoreitem[5]{100}{Task completion: Every successfully completed pick \& place action}
+	\scoreitem{100}{Opening the cabinet door without human help}
 	\scoreitem{100}{Picking and placing a tiny object}
-	\scoreitem{100}{Picking and placing a heavy object}
-
-	\scoreheading{Regular Penalties}
-	\penaltyitem[5]{-60}{Storing an object without categorizing it correctly}
+	\scoreitem{100}{Picking and placing a heavy object} 
 
+	%\scoreheading{Regular Penalties}
+	%\penaltyitem[5]{-30}{Storing an object without categorizing it correctly}
+    \\
 	\scoreheading{Deus Ex Machina Penalties}
-	\penaltyitem[5]{-30}{A human handing an object over to the robot}
+	\penaltyitem[5]{-40}{A human handing an object over to the robot}
 	\penaltyitem[5]{-90}{A human placing an object in the cabinet}
 	\penaltyitem[5]{-30}{A human placing an object in the cabinet at a location clearly indicated by the robot}
 	\penaltyitem[5]{-45}{A human pointing at a target location}
+ \\
 \end{scorelist}
 
 

scoresheets/subtask_list.tex

@@ -0,0 +1,9 @@
+% list of all available sub-tasks and their points
+% TODO: move this maybe to it's own file
+% \newquote[options]{label}{description}{points}{category}
+
+%perception
+\newquote{PerceiveObjectHuman}{Recognize an object (or person) using 2D/3D camera data}{15}{Perception}{}
+
+%manipulation 
+\newquote{ManipulatePickUp}{pickup an object}{30}{Manipulation}

setup/config.tex

@@ -47,4 +47,5 @@
 	anchorcolor  = blue,
 	linkcolor    = blue,
 	urlcolor     = blue,
-}
+}
+