IMPORTANT: The 2021 RoboCup@Home Rulebook is available HERE. A fresh build can be obtained at https://github.com/RoboCupAtHome/RuleBook/
A pre-draft of the current simulator can be found in https://github.com/okdhryk/robocup2020dspl-sumulation
Table of Contents:
Simulator
The 2021 RoboCup@Home Virtual Competition will feature the OSS HSR simulator.
A docker image of the OSS HSR simulator can be found here
This link explains how to use it in the simulation league
Tests
The 2021 RoboCup@Home Virtual Competition will feature TWO tests for Stage I, plus ONE tests in Stage II.
The winner of the 2021 RoboCup@Home Virtual Competition will be the highest-scored team (i.e. no Finals).
Poster Session
A brief Poster Session where the team introduces itself to the community and presents their approach(es) and highlights their research.
Poster Presentations are 3 minutes long with 2 additional minutes for questions and answers. The Virtual Poster may consist of merely ONE slide
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Test in Stage I
Tests in Stage I are run for 5 minutes (virtual wall-clock time), in which the robot must try to complete the assigned task.
Clean Up
The robot enters a predefined room in the arena and starts looking for misplaced objects (all known objects have a category and a place assigned). Known, misplaced objects must be brought back to their predefined locations, while unknown objects are deemed as garbage and must be disposed into the trash bin.
Scoring: The score is calculated as the sum of the scoring value of each objects correctly relocated minus a penalty for each object wrongly relocated, including dumping objects outside the bin.
Go and Get It
The robot arrives to a predefined location where a virtual operator will request an object using natural language (eg. audio or text transcript via ROS topic). The command request indicates the name of the object and the name of a room where the object is known to be. The robot must drive to the room, look for the requested object, and bring it back to the virtual operator.
Scoring: The score is calculated as the sum of each correctly retrieved object.
Test in Stage II
Tests in Stage I are run for 15 minutes (virtual wall-clock time), in which the robot must try to complete the assigned task.
Clean Up: Reloaded
The robot enters a predefined room in the arena and starts looking for misplaced objects (all known objects have a category and a place assigned). Known, misplaced objects must be brought back to their predefined locations, while unknown objects are deemed as garbage and must be disposed into the trash bin.
In this enhanced version of Clean Up, there is a greater number of objects lying around, featuring specially those with an average recognition confidence ratio rather low. Likewise, there may be people in the room, making the scenario dynamic and more complex.
Scoring: The score is calculated as the sum of the scoring value of each objects correctly relocated minus a penalty for each object wrongly relocated, including dumping objects outside the bin.
Organization of the Competition
All tests for all teams in the 2021 RoboCup@Home Virtual Competition will be run in parallel by an Expert Technician.
This strategy will change the traditional mechanics of the competition as follows:
- All Teams at Once (ATO): In each run, an Expert Technician (ET) will mount the Docker images provided by the teams in the simulator and test all teams simultaneously.
Please consider that if the Expert Technician is unable to mount your Docker image, your team will be immediately disqualified from the run. - Multiple Runs, Best Score: Like in the normal competition, each test will be run several times using different initial conditions.
However, unlike the traditional competition, the best execution (highest scored run) will be taken as score for that particular test. - Scheduled Deliveries: Since all teams will be tested in parallel, the Organizig Committee (OC) will issue a Docker Image Delivery Deadline (DIDD), typically closing 30 minutes before the Test Run.
All teams are required to upload their Docker Image before the DIDD in order to participate in a run.
Teams who fail to upload a valid Docker Image by the time the DIDD has closed will be disqualified from the run and score 0. - Automated Scoring: First and foremost, the scoring of the tests will be completely automated, meaning that no referees will be required and that the performance of the robots will be determined by the simulator itself. In consequence, there will be no restarts or second chances, the scores will be considered as final and won’t be discussed. Please consider that if your system fails to run in the official simulator (e.g. crash, lack of dependencies) or the Expert Technician is unable to mount your Docker image, your team will be immediately disqualified from the run.
Robot Models
The 2021 RoboCup@Home Virtual Competition features ONE official (working and tested) Robot Model (RM): The Toyota HSR.
The RoboCup@Home Community is encouraged to develop custom robot models for their use during the competition.
Domestic Standard Platform League
The Toyota HSR is the one and only robot model allowed for the DSPL
Open Platform League
The Toyota HSR is, so far, the default robot model in the OPL. Teams are not only allowed, but encouraged to propose and develop their own models for the competition with the following conditions:
- All models must be open source
- All models must be properly documented
- All models must be compatible with the current simulator
- All models must include tested patches for the simulator
The 2021 RoboCup@Home Organizing and Technical Committees require the participation, assistance and involvement of the Open Platform League in developing custom models and prepare the simulator to use them.
Social Standard Platform League
So far, the Toyota HSR is the one and only robot model allowed for the SSPL; however, we are looking forwards towards a compatible Pepper model for the competition.
The 2021 RoboCup@Home Organizing and Technical Committees require the participation, assistance and involvement of the Social Standard Platform League to develop such model and prepare the simulator to use it.
Competitors
Unlike former years, the number of participants for the 2021 RoboCup@Home Virtual Competition will not be capped to any number.
This means that all candidates elegible for Qualification will be granted the Qualified status regardless of the number of applications and will be allowed to register and compete.