The rulebook should mandate that we actually solve the technical challenges #806

general_rules/ContinueRules.tex

@@ -15,6 +15,7 @@ \subsection{Procedure}
 		\item The particular goal or desired result
 		\item How the action must be carried out (when necessary)
 		\item Details about how to interact with the robot (when necessary)
+		\item Detailed information enough to identify the objects (e.g. object name, color or location) for picking and placing objects.
 	\end{compactitem}
 
 	\item \textbf{Supervise:} The robot must be aware of the human's actions, being able to tell when the requested action has been completed, as well as guiding the human assistant (if necessary) during the process.
@@ -24,21 +25,18 @@ \subsection{Procedure}
 
 \subsection*{Example}
 \label{rule:continue_example}
-In the following example, a robot has to clean the table, but is unable to grasp the spoon.
+In the following example, a robot has to clean the table but is unable to grasp the spoon.
 \begin{itemize}[noitemsep]
 	\small
 	\item[\textcolor{gray}{R:}] \texttt{I am sorry, but the spoon is too small for me to take.\\
 	Could you please help me with it?\\
 	Please say "robot yes" or "robot no" to confirm.}
 	\item[\textcolor{gray}{H:}] \textit{Robot, yes!}
 	\item[\textcolor{gray}{R:}] \texttt{Thank you! Please follow my instructions.\\
-	Please take the purple spoon from the table. It is on my left.}
-	\item[\textcolor{gray}{H:}] (Referee takes green fork)
-	\item[\textcolor{gray}{R:}] \texttt{You took the wrong object.\\
-	Please take the purple spoon from the table. It is on my left.}
+	Please take the purple spoon from the table. It is on my left. \\(The robot also shows the result of the perception, e.g. by pointing at the spoon or showing a picture with a bounding box on the screen)}
 	\item[\textcolor{gray}{H:}] (Referee takes purple spoon)
 	\item[\textcolor{gray}{R:}] \texttt{I saw you took the spoon.\\
-	Would you be so kind to follow me to the kitchen?\\
+	Would you be so kind as to follow me to the kitchen?\\
 	Please keep the spoon visible in front of you so I can track you. Thank you!}
 	\item[\textcolor{gray}{R:}] \texttt{You can stop following me now.\\
 	As you can see, the dishwasher is already open.\\
@@ -48,7 +46,6 @@ \subsection*{Example}
 \end{itemize}
 
 
-
 \subsection{Scoring}
 \label{rule:continue_scoring}
 There is no limit in the amount of times a robot can request human assistance, but score reduction applies every time it is requested.

scoresheets/StoringGroceries.tex

@@ -15,9 +15,10 @@
 	\penaltyitem[5]{-60}{Storing an object without categorizing it correctly}
 
 	\scoreheading{Deus Ex Machina Penalties}
+	\penaltyitem[5]{-15}{A human handing an object over to the robot (the object is clearly indicated by the robot)}
 	\penaltyitem[5]{-30}{A human handing an object over to the robot}
+	\penaltyitem[5]{-45}{A human placing an object in the cabinet at a location clearly indicated by 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}
 

tasks/ServeBreakfast.tex

@@ -22,13 +22,13 @@ \subsection*{Setup}
 		\end{itemize}
 		\item \textbf{People:}
 			\begin{itemize}
-				\item No people are involved in the test, unless the robot requires human assistance.
+				\item No people are involved in the test unless the robot requires human assistance.
 			\end{itemize}
 	\item \textbf{Furniture:}
 		\begin{itemize}
-			\item \textbf{Table:} The robot serves breakfast on any table or flat surface in the kitchen (the team is free to choose this location).
-			\item \textbf{Chairs:} Chairs may be placed around the kitchen table and won't be removed.
-			\item \textbf{Doors:} The robot does not need to open any doors for finding the breakfast items.
+			\item \textbf{Table:} The robot serves breakfast on the table or flat surface which is announced beforehand.
+			\item \textbf{Chairs:} Chairs may be placed around the table and won't be removed.
+			\item \textbf{Doors:} The robot does not need to open any doors to find the breakfast items.
 		\end{itemize}
 	\item \textbf{Objects:}
 		\begin{itemize}
@@ -38,7 +38,7 @@ \subsection*{Setup}
 
 \subsection*{Procedure}
 \begin{enumerate}[nosep]
-	\item \textbf{Table selection:} Half an hour before the test starts, the team informs the referees about the surface that will be used as a table.
+	\item \textbf{Table selection:} Two hours before the test, the referees announce the surface that will be used as a table.
 	\item \textbf{Test start:} The robot moves to the kitchen when the arena door is open.
 	\item \textbf{Serving breakfast:} To serve breakfast, the robot has to place breakfast items on a table (bowl, spoon, cereal box, and milk carton).
 	\item \textbf{Pouring cereal:} After placing the breakfast items on the table, the robot should pour cereal into the bowl.
@@ -54,7 +54,7 @@ \subsection*{Additional Rules and Remarks}
 	\item \textbf{Safe placing:} Objects must be placed with care, namely the robot should place rather than throw or drop objects.
 	\item \textbf{Deus ex Machina:} The scores are reduced if human assistance is received, in particular for:
 	\begin{itemize}[nosep]
-		\item pointing to an object or telling to the robot where an object is or where to place it
+		\item pointing to an object or telling the robot where an object is or where to place it
 		\item handing an object over to the robot
 		\item having a human place objects on the table
 		\item having a human pour cereal into the bowl
@@ -68,6 +68,13 @@ \subsection*{OC Instructions}
 	\item Provide official cutlery and tableware for training.
 \end{itemize}
 
+2 hours before the test:
+\begin{itemize}
+	\item Announce the surface that will be used as a table.
+	\item Announce a rough location of the table.
+\end{itemize}
+
+
 \subsection*{Referee Instructions}
 
 The referee needs to: