Enhanced General Purpose Service Robot
Tasks remaining per Area
Everything in the GPSR task plus the following:
Navigation
- Obtain the location of a detected object
Vision
- Locate trash on the floor
- Locate misplaced objects
HRI
- Know default/expected locations of objects
Manipulation
- Pick up objects from the floor (deus ex machina)
- Place objects in trash
Description
The robot is asked to maintain the household by cleaning up the arena and assisting people. The robot must find and solve different problems in the arena on its own. (10 minutes)
Main Goal: Solve different problems in the arena, including picking up trash from the floor, returning misplaced objects to their default location, and responding to requests from people in the arena.
Focus: Task planning, object/people detection and recognition, object feature recognition, object manipulation.
Task Breakdown
- Find problems in the arena (trash on floor, misplaced objects, people with requests)
- For trash problems: Pick up trash from the floor and dispose in trash bin
- For misplaced objects: Return objects to their default location
- For people problems: Find people with raised hands and respond to their requests
Points we could achieve: - Finding and stating problems: 3×150 = 450 - Solving problems: 3×650 = 1950
Total: 2400
Possible points
| Category | Action | Score |
|---|---|---|
| Main Goal | Find and clearly state an encountered problem | 3×150 |
| Solve a problem | 3×650 | |
| Penalties | Find repeated problem category | –100 |
| Solving repeated problem category for the 2nd time | –300 | |
| Solving repeated problem category for the 3rd (or more) time | –500 | |
| Deus Ex Machina Penalties | Asking for location of a problem | 3×–150 |
| Instructing a human to perform parts of the task | 3×–650 | |
| Special Penalties & Bonuses | Not attending (see sec. 3.9.1) | –500 |
| Using alternative start signal (see sec. 3.7.8) | –100 | |
| Outstanding performance (see sec. 3.9.3) | 240 | |
| Total | Total Score (excluding special penalties & standard bonuses) | 2400 |
Arena Setup
- The arena is in its default state except for problems set up for the robot to solve
- Minimum of 8 problems will be set up depending on arena size
- Problems include:
- Trash: Objects on the floor to be thrown in trash
- Misplaced objects: Objects not in default location
- Persons with requests: People who will raise their hand if robot is in same room
Procedure
- The robot enters the arena when the door is open
- The robot must find problems to solve on its own
- The robot can solve multiple problems to gain points
- Solving the same category of problem incurs penalties
- Partial scoring is allowed per solved problem
Additional Rules
- Problems and commands will be generated using the official command generator
- Finding a person and stating they need help counts as finding the problem
- Understanding and correctly repeating a command from a person can count toward partially solving a problem
- Score reduction is applied as a percentage depending on the solution