Merge 2023 changes back into master (#794)

scoresheets/CleanTable.tex

@@ -9,12 +9,12 @@
 	\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}
+	\scoreitem{300}{Placing the dishwasher tab inside the dishwasher's hatch intended for the tab}
 
 	\scoreheading{Deus Ex Machina Penalties}
-	\penaltyitem[5]{25}{Pointing at an object or telling the robot where an object is}
+	\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}
 	%\setTotalScore{1000}
 \end{scorelist}
 

scoresheets/EGPSR.tex

@@ -10,7 +10,7 @@
 	\scoreheading{Deus Ex Machina Penalties}
 	\penaltyitem[3]{100}{Using a custom operator}
 	\penaltyitem[3]{100}{Bypassing speech recognition}
-	\penaltyitem[3]{500}{Instructing a human to perform the task}
+	\penaltyitem[3]{800}{Instructing a human to perform parts of the task will apply a percentage penalty according to similar penalties in other Stage II tests.}
 \end{scorelist}
 
 

scoresheets/GPSR.tex

@@ -10,5 +10,5 @@
 	\scoreheading{Deus Ex Machina Penalties}
 	\penaltyitem[3]{50}{Using a custom operator}
 	\penaltyitem[3]{50}{Bypassing speech recognition}
-	\penaltyitem[3]{400}{Instructing a human to perform the task}
+	\penaltyitem[3]{400}{Instructing a human to perform parts of the task will apply a percentage penalty according to similar penalties in other Stage I tests.}
 \end{scorelist}

scoresheets/Receptionist.tex

@@ -4,7 +4,7 @@
 	\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 being described}
+	\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}

scoresheets/Restaurant.tex

@@ -6,21 +6,22 @@
 
 \small\begin{scorelist}
 	\scoreheading{Regular Rewards}	
-	\scoreitem[2]{100}{Detect calling or waving customer (per order).}
-	\scoreitem[2]{100}{Reach a customer's table without prior guidance/training (per order).}
+	\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.}
 
 	\scoreheading{Bonus Rewards}
-	\scoreitem[2]{200}{Use an unattached tray to transport (per order).}
+	\scoreitem[2]{200}{Use an unattached tray to transport}
 
 	\scoreheading{Regular Penalties}
-	\penaltyitem[2]{100}{Not making eye-contact when taking an order (per order).}
+	\penaltyitem[2]{100}{Not making eye-contact when taking an order}
 
 	\scoreheading{Deus ex Machina Penalties}
-	\penaltyitem[2]{200}{Being guided to a table (per order).}
-	\penaltyitem[6]{100}{Bypassing manipulation (per object).}
-	\penaltyitem[6]{50}{Each object handover (per object).}
-	\penaltyitem[2]{25}{Being told/pointed where is a table/\textit{Kitchen-bar} (per order).}
+	\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}
+	\penaltyitem[2]{100}{Being told/pointed where is a table/\textit{Kitchen-bar}}
 
 \end{scorelist}
 

scoresheets/ServeBreakfast.tex

@@ -16,9 +16,9 @@
 	\penaltyitem{150}{Spilling milk while pouring}
 
 	\scoreheading{Deus Ex Machina Penalties}
-	\penaltyitem[4]{25}{Pointing at an object}
-	\penaltyitem[4]{50}{Handing an object over to the robot}
-	\penaltyitem[4]{75}{A human placing an object on the table}
+	\penaltyitem[4]{5}{Pointing at an object}
+	\penaltyitem[4]{15}{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}
 
 	%\setTotalScore{1000}

scoresheets/SticklerForRules.tex

@@ -17,11 +17,11 @@
 	\scoreitem[4]{100}{Making eye-contact, politely clarify to the guest what rule is being broken.}
 
 	\scoreheading{Regular Penalties}
-	\penaltyitem[4]{100}{Approach a guest who is not breaking a rule.}
+	\penaltyitem[4]{100}{Talking to a guest about a rule they are not breaking}
 
 	\scoreheading{Deus ex Machina Penalties}
-	\penaltyitem[4]{100}{A human directs the robot towards a guest who is breaking a rule.}
-	\penaltyitem[4]{100}{A human tells the robot which guest is breaking a rule.}
+	\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}
 
 \end{scorelist}
 

scoresheets/StoringGroceries.tex

@@ -8,16 +8,17 @@
 
 	\scoreheading{Bonus Rewards}
 	\scoreitem{200}{Opening the cabinet door without human help}
-	\scoreitem{100}{Moving a tiny object}
-	\scoreitem{100}{Moving a heavy object}
+	\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}
 
 	\scoreheading{Deus Ex Machina Penalties}
-	\penaltyitem[5]{-30}{A human pointing at a target location}
 	\penaltyitem[5]{-30}{A human handing an object over to the robot}
-	\penaltyitem[5]{-100}{A human moving an object}
+	\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}
 
 

tasks/EGPSR.tex

@@ -29,9 +29,9 @@ \subsection*{Setup}
 	\item \textbf{People:}
 		\begin{itemize}
 			\item \textbf{Operators:} A \emph{Professional Operator} (the referee) commands the robot to execute a task.
-            Optionally, commands can be issued by a \emph{Non-Expert Operator}, i.e. a person from the audience with no robotics background.
-            In this case, the referee gives the command to the non-expert operator, who will then issue it to the robot (rephrasing is allowed).
-            If the robot consistently fails to understand the non-expert operator (e.g. after two retries), teams can default to a custom operator.
+			Optionally, commands can be issued by a \emph{Non-Expert Operator}, i.e. a person from the audience with no robotics background.
+			In this case, the referee gives the goal of the command to the non-expert operator, who will then issue it to the robot in their own words. For example, the generated command might be ``Bring me a coke from the kitchen." then the non-expert operator will be told ``The robot should bring you a coke, which is found in the kitchen.", who then tells the robot ``I want a coke. Go to the kitchen and get me one."
+			If the robot consistently fails to understand the non-expert operator (e.g. after two retries), teams can default to a custom operator.
 		\end{itemize}
 \end{enumerate}
 

tasks/GPSR.tex

@@ -28,7 +28,7 @@ \subsection*{Setup}
         \begin{itemize}
             \item \textbf{Operators:} A \emph{Professional Operator} (the referee) commands the robot to execute a task.
             Optionally, commands can be issued by a \emph{Non-Expert Operator}, i.e. a person from the audience with no robotics background.
-            In this case, the referee gives the command to the non-expert operator, who will then issue it to the robot (rephrasing is allowed).
+            In this case, the referee gives the goal of the command to the non-expert operator, who will then issue it to the robot in their own words. For example, the generated command might be ``Bring me a coke from the kitchen." then the non-expert operator will be told ``The robot should bring you a coke, which is found in the kitchen.", who then tells the robot ``I want a coke. Go to the kitchen and get me one."
             If the robot consistently fails to understand the non-expert operator (e.g. after two retries), teams can default to a custom operator.
         \end{itemize}
 \end{itemize}

tasks/Restaurant.tex

@@ -41,7 +41,7 @@ \subsection*{Setup}
 	\item \textbf{Objects:} 
 	\begin{itemize}
 	\item Objects to fulfill orders are located on the Kitchen-bar.
-	\item Orders have between one and three objects randomly chosen.
+	\item Orders have two or three objects randomly chosen.
 	\item All edible/drinkable objects from the list of standard objects (see~\refsec{rule:scenario_objects}) are eligible to be part of the orders.
 	\end{itemize}
 \end{itemize}
@@ -74,6 +74,8 @@ \subsection*{Additional rules and remarks}
 		\item By default, the barman will place the order in a basket or tray for the robot to deliver it.
 		\item Upon arrival to the restaurant, only the team leader is allowed next to the robot for watching and charging.
 		\item If a person from the audience (severely) interferes with the robot in a way that makes it impossible to solve the task, the teams may repeat the test immediately.
+		\item Each Deus Ex Machina penalty for skipping manipulation will only be applied twice per order so receiving an order with three objects is not more punishing.
+		\item If the robot detects a customer but does not reach their table, the robot must clearly show who was detected to receive points, i.e. displaying a picture of the person.
 	\end{itemize}
 	\item \textbf{Disqualification:}
 	\begin{itemize}

tasks/SticklerForRules.tex

@@ -55,19 +55,19 @@ \subsection*{Additional rules and remarks}
 	\begin{enumerate}[nosep]
 		\item \textit{No shoes inside the house.}\\
 		\textbf{Policy:} All guests have to take off their shoes at the entrance.\\
-		\textbf{Action:} Take the guests to the entrance and verify they takes off the shoes.
+		\textbf{Action:} Take the guests to the entrance and verify they take off their shoes.
 
 		\item \textit{Forbidden room}\\
 		\textbf{Policy:} No guests are allowed in the \emph{Forbidden Room}. \\
-		\textbf{Action:} Take the offenders with other party guests and verify they doesn't enter back.
+		\textbf{Action:} Take the offenders to the other party guests and verify they don'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.
+		\textbf{Policy:} Guests are not allowed to leave garbage on the floor.\\
+		\textbf{Action:} Make the (closest) offender 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 guests to the kitchen/bar and make sure they grabs a drink.
+		\textbf{Action:} Take the guests to the kitchen/bar and make sure they grab a drink.
 	\end{enumerate}
 \end{itemize}