CarryMyLuggage -> HelpMeCarry.

- back pickup after following
- dont require starting in the arena

documents/rulebook.tex

@@ -79,7 +79,7 @@ \chapter{Tests in Stage I}
 
 % Uncomment to get aesthetic improvement
 \cleardoublepage
-\input{tasks/CarryMyLuggage}
+\input{tasks/HelpMeCarry}
 \newpage
 \input{tasks/GPSR}
 \newpage

documents/scoresheets.tex

@@ -106,7 +106,7 @@
 
 \renewcommand{\currentTest}{Carry my Luggage}
 \begin{scoresheet}
-\input{scoresheets/CarryMyLuggage}
+\input{scoresheets/HelpMeCarry}
 \end{scoresheet}
 
 \renewcommand{\currentTest}{General Purpose Service Robot}

scoresheets/CarryMyLuggage.tex → scoresheets/HelpMeCarry.tex

@@ -3,16 +3,16 @@
 
 \begin{scorelist}
 	\scoreheading{Main Goal}
+	\scoreitem{300}{Following the person to the car}
 	\scoreitem{15}{Perceiving the correct beg (visualize on screen or say which one)}
 	\scoreitem{100}{Picking up the correct bag}
-	\scoreitem{300}{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{100}{Re-entering the arena}
+	\scoreitem{200}{Re-reaching the starting location}
 	\scoreitem{300}{Joining and staying in the queue on the way to the arena}
 
 

tasks/CarryMyLuggage.tex → tasks/HelpMeCarry.tex

@@ -1,13 +1,13 @@
-\section{Carry My Luggage}
+\section{Help Me Carry}
 \label{test:carry-my-luggage}
-The robot helps the operator to carry some luggage to a car which is parked outside.
+The robot's owner needs help carrying something from the car to the starting location.
 
-\noindent \textbf{Main Goal:} The robot helps the operator to carry a bag to a car parked outside.\\
+\noindent \textbf{Main Goal:} The robot helps the operator to carry a bag from a car parked outside.\\
 
 \noindent \textbf{Optional Goals:}
 \begin{enumerate}[nosep]
-	\item Re-entering the arena
-	\item Following the queue on the way back to the arena
+	\item Re-reaching the starting location
+	\item Following the queue on the way back
 \end{enumerate}
 
 \subsection*{Focus}
@@ -17,34 +17,39 @@ \subsection*{Setup}
 \begin{itemize}[nosep]
 	\item \textbf{Locations}: 
 		\begin{itemize}
-		 \item The test takes place both inside and outside the \Arena{}.
-		 \item The robot starts at a predefined location in the living room.
+		 \item The test is performed outside the arena in a public space.
+		 \item The robot starts at a predefined location.
 		\end{itemize}
-	\item \textbf{People}: The operator is standing in front of the robot and is pointing at the bag to be carried outside.
-	\item \textbf{Objects}: At least two bags are placed near the operator (within a 2m distance and visible to the robot).
+	\item \textbf{People}: The operator is standing in front of the robot.
+	\item \textbf{Objects}: 
+		\begin{itemize}[nosep]
+			\item At least two bags are placed near the car.
+			\item A small object on the ground.
+			\item A hard-to-see object.
+			\item Retractable barriers.
+		\end{itemize}
+
+	\item \textbf{Uncontrolled environment:} There are no restrictions on other people walking by or standing around throughout the complete task.
 \end{itemize}
 
 \subsection*{Procedure}
 \begin{enumerate}[nosep]
-	\item \textbf{Picking up the bag:} The robot picks up the bag pointed at by the operator.
-	\item \textbf{Following the operator:} The robot should inform the operator when it is ready to follow them. The operator walks naturally towards the car; after reaching the car, the operator takes the bag back and thanks the robot.
+	\item \textbf{Following the operator:} The robot should inform the operator when it is ready to follow them. The operator walks naturally towards the car; after reaching the car, the operator points at the bag.
 	\item \textbf{Obstacles:} The robot will face 4 obstacles along its way (in arbitrary order):
 	\begin{enumerate*}[label=(\alph*)]
 		\item a small object on the ground,
 		\item a hard-to-see object,
 		\item a crowd of people obstructing the path outside, and
 		\item a small area blocked using retractable barriers.
 	\end{enumerate*}
-
+	\item \textbf{Picking up the bag:} The robot picks up the bag pointed at by the operator.
+	\item \textbf{Bag delivery:} The robot takes the bag to the starting location. It may place the bag on the floor.
 
 	\item \textbf{Optional goals:}
 	\begin{enumerate}
-			\item \textbf{Re-entering the arena}: The robot returns to the arena, going back in through the entrance.
-
-			\item \textbf{Following the queue:} After the robot has reached the car, a few of the people that formed the crowd obstructing the robot return to the arena in a queue. The robot can decide to join the queue on its way back to the arena, in a manner that appears natural to the people in the queue.
+			\item \textbf{Following the queue:} After the robot has reached the car, a few of the people that formed the crowd obstructing the robot return to the starting location in a queue. The robot can decide to join the queue on its way back, in a manner that appears natural to the people in the queue.
 	\end{enumerate}
 
-
 \end{enumerate}
 
 
@@ -63,16 +68,6 @@ \subsection*{Additional Rules and Remarks}
      \item Touching the robot (e.g., pulling the robot's hand)
     \end{enumerate}
 	Note: Penalties for human assistance are only applied if the robot continues to score after the interaction. Penalties can be applied multiple times up to a total of 250 points.
-	%\begin{table}[h]
-    %    \begin{tabular}{m{0.8\linewidth} c}
-	%		\textbf{Action} & \textbf{Reduction} \\\hline
-	%		Handing over the bag to the robot & 100pts \\
-	%		Finding the operator while following them: & \\
-	%		\hspace{0.5cm}- Natural interaction (e.g. waving and calling) & 100pts \\
-	%		\hspace{0.5cm}- Non-natural interaction (e.g. raising both hands and jumping) & 200pts \\
-	%		\hspace{0.5cm}- Touching the robot (e.g. pulling the robot's hand) & 400pts \\\hline
-	%	\end{tabular}
-	%\end{table}
 \end{enumerate}
 
 
@@ -81,12 +76,13 @@ \subsection*{Referee Instructions}
 The referees need to:
 \begin{itemize}[nosep]
 	\item Select one volunteer to act as the operator.
-	\item Select three to four people to obstruct the robot's path outside and form the queue on the way back to the arena.
+	\item Select three to four people to obstruct the robot's path outside and form the queue on the way back.
 	\item Choose positions for the bags and assign a bag to the operator.
 	\item Choose the order of the obstacles that the robot will face outside while following the operator.
 	\item Designate a location outside as a car location.
-	\item Designate a location for the queue to form returning into the arena. The queue is composed of the same people that form the crowd.
-	\item Mind the robot when it goes outside the \Arena{}.
+	\item Designate a location for the queue to form. The queue is composed of the same people that form the crowd.
+	\item Mind the robot when it moves around.
+	\item Instruct the Operator to follow the robots instructions, step over the small obstacle and closely around the hard to see object
 \end{itemize}
 
 \subsection*{OC Instructions}
@@ -95,7 +91,8 @@ \subsection*{OC Instructions}
 \begin{itemize}[nosep]
 	\item Select and announce the robot's starting point.
 	\item Select which bags will be used in the test.
+	\item Organize retractable barriers.
 \end{itemize}
 
 \subsection*{Score Sheet}
-\input{scoresheets/CarryMyLuggage.tex}
+\input{scoresheets/HelpMeCarry.tex}