These are the general rules and regulations for the competition in the Intelligent Home Robotics 2024 Challenge in Winter (referred to as iHR-C3 below). Every rule in this section can be considered to implicitly include the term “unless stated other-wise”. This means that additional or contrary rules, in particular with respect to the specification of tests, have a higher priority than those mentioned in the general rules and regulations.
Note
The General Rules and Regulations are based on Chapter 3: General Rules & Regulations of the RoboCup 2024 (Revision 2024-05-03_1).
Important
Any changes not mentioned on this page related to the RoboCup 2024 (Revision 2024-05-03_1) will NOT be considered. Therefore, the rules will be finalized through discussions with the participating teams via GitHub Issues and Team Leader Meeting (TLM).
Important
Any inconsistency found between the Japanese version and English version of the General Rules & Regulations, the Japanese version will be taken as first priority.
No qualification process will be conducted.
All teams that have completed registration can participate.
For more details, have a look in the Registration section.
Note
Any @Home leagues are legible to participate.
Important
The competition will be held on-site only. Please be aware of this.
Part of making RoboCup@Home appealing is to show the audience what robots should do and what they are actually doing during tasks. In particular, providing information about what a robot is doing to the audience is important for the advancement of the league. Therefore, we would like to ask for your collaboration explaining your robot's actions, or making the robot describe it.
As event organizers, we take care to ensure that the audience does not disturb the robot's actions as much as possible. However, it is necessary for each team to consider measures to deal with situations where tasks performed inside the Arena are not affected for example in the recognition system of the robot because of the movements of spectators outside the Arena (e.g., issues with human pose estimation).
Most competition tests take place in the Arena, but some tests may take place outside, in a previously unknown public place. In this section, the Arena and its contents are described, in particular the furnishing and other information that is common between tests and leagues.
The Arena is a realistic home setting (an apartment) consisting of interconnected rooms based on the WRS2020 setup.
The minimal configuration consists of:
- a living room, and
- a dining room
Depending on the local organization, there may also be multiple Arenas that may be slighly different from each other, and a robot must be prepared to perform any task in any Arena.
However, as robots need to function in the real world, the Arena is not fixed and may be changed without notice.
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Major changes: Any furniture (at a Predefined Location or not) that cannot be expected to be fully static in an everyday environment might be moved slightly between tests. In particular, furniture will not change rooms or move drastically inside a room, but a couch or table may be slightly rotated or moved; fixed locations for such furniture items should not be assumed. Walls will stay in place and rooms will not change function. Passages might be blocked.
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Minor changes: Slightly moved chairs, slightly closed doors, or anything similar cannot be avoided and might happen at any time, even during a test.
The indoor home setting will be surrounded by low walls, which are built up using standard, fair and low-cost construction material.
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Walls: Walls are fixed and will not be modified during the competition. The selected material will be cardboard and the wall height is 0.45 [m]; allowing the audience to watch the competition.
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Doors: Inside the Arena, rooms are NOT connected by doors. There will be only one entrance door, and will be closed right after the robot goes inside the Arena.
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Floor: The floor and doorways of the Arena are even, so there are no significant steps or stairways; however, minor unevenness, such as carpets, transitions in floor covering between different areas, and minor gaps (especially at doorways) can be expected.
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Appearance: The floor and walls are mostly monochromatic, but may contain textures, such as a carpet on the floor, or a poster or picture on the wall.
The minimal configuration consists of:
- a living room with:
- four (4) containers
- a long table (a):
- two (2) trays
- a pen stand
- a container
- a long table (b)
- a tall table
- a dining room with:
- a shelf
- two chairs
Note
Further furniture might be added/substituted depending on the competition task to be performed.
Some tests in the iHR-C3 involve recognizing and manipulating objects. The TC will compile a list of objects for this purpose; the list will contain a picture of the each object, as well as its official name and Object Category (for example, Noodle belongs to the Food category). Most objects are likely to be lightweight and easy to grasp with one hand. Every Object Category has an assigned Predefined Location, where objects of that category can usually be found or placed during tests (for example, an Food can be found or placed on the Kitchen Table); assignments are announced during the Setup Day.
Objects are provided at the competition for training. Teams may share the objects if the participant team does not count with a set of objtects. Modifying the training objects is not allowed.
Three types of objects are used in the tasks:
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Known Objects: Objects previously known to the robot, divided into:
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Consistent Objects: Objects published on the Setup Day, and
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Standard Objects: Objects chosen from the TBD. These objects published a few months before the iHR-C3 competition, so that they can be aquired and trained beforehand.
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Unknown Objects: Any other object that is not in the object list but can be grasped or handled. Depending on the competition task, these unknown objects may be used.
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Dummy Objects: Objects published on the Setup Day which will not be used in manipulation tasks. These objects will appear as obstacles during autonomous navigation or additional objects during object recognition.
Some tests in the iHR-C3 involve a Predefined Location where people or objects can be found. There will also be one door, named Entrance, which lead in and out of the Arena. Room names, predefined locations, and location classes are announced at the same time as the Rulebook. However, if the task begins without the Door Open, the Starting Location and the Ending Location are announced during the Setup Days.
Some tests in the iHR-C3 involve memorizing a person’s name. All people in the Arena have an assigned Predefined Name chosen by the TC. Predefined names are chosen from the GPSR Command Generator and will be announced during the Setup Days.
For wireless communication, an Arena Network is provided. The actual infrastructure depends on the local organization. Reliability and performance of the network is NOT guaranteed; robots are expected to be able to run without a wireless network.
The following rules apply:
- Only the Arena Network can be used during tests.
- Only the active team in a task is allowed to use the Arena Network.
- The VLAN is also connected to the Internet.
- The use of mobile router is allowed if:
- has internet connection with the robot through LAN cable,
- does not broadcast any VLAN (wireless networks) and
- any team member is not close to any electronic device such as keyboards, mouses, remotes and computers.
Teams broadcasting unauthorized (aka rogue) wireless networks will be disqualified from the competition and their devices may be temporarily confiscated by the OC; this includes smartphones and concealed SSIDs. It is thus advised to verify your devices for any breaches of this nature.
Warning
Notice that local-organization-provided wireless communication network may NOT be stable during the competition.
The robots used in iHR-C3 must meet the following requirements. The compliance with these rules will be verified during Robot Inspection.
- Registration: The maximum number of robots per team is one (1).
- Regular Tests: Only one robot is allowed per test. For different test runs, different robots can be used.
Robots competing in the iHR-C3 must comply with security specifications in order to avoid causing any harm while operating.
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Dimensions: The dimensions of a robot should not exceed the limits of the door in the Arena (1.2 [m]). The TC may allow the qualification and registration of larger robots, but, due to local restrictions, it cannot be guaranteed that the robots can actually enter the Arena. In doubt, please contact the Local Organizing Committee (LOC) or the Technical Committee (TC).
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Weight: There are no specific weight restrictions; however, the weight of the robot and the pressure it exerts on the floor should not exceed local regulations where the competitions is being held.
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Transportation: Team members are responsible for quickly moving the robot out of the Arena. If the robot cannot move by itself (for any reason), the team members must be able to transport the robot away quickly and easily.
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Cover: The robot’s internal hardware (electronics and cables) should be covered so that safety is ensured. The use of (visible) duct tape is strictly prohibited.
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Loose cables: Loose cables hanging out of the robot are not permitted.
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Safety: The robot must not have sharp edges or elements that might harm people.
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Annoyance: The robot must not be continuously making loud noises or use blinding lights.
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Driving: To be safe, the robots should be careful when driving. Obstacle avoidance is mandatory.
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Accessibility and visibility: Every robot has to provide an easily accessible and visible Emergency Stop button.
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Color: The Emergency Stop must be coloured red and be the only red button on the robot. The TC may ask the team to tape over or remove any other red buttons present on the robot.
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Robot behavior: When the Emergency Stop button is pressed, the robot and all its parts must stop moving immediately.
Everything that a team uses during a test and is not part of the robot is considered an External Device. All External Devices must be authorized by the technical committee (TC) The TC specifies whether an External Device can be used freely or under TC supervision, and determines its impact on scoring.
Note that the use of wireless devices, such as hand microphones and headsets, is not allowed, with the exception of External Computing as specified below. Please also note that the competition organizers do not guarantee or take any responsibility regarding the availability or reliability of the network or the internet connection in the Arena. Teams can thus use External Computing resources at their own risk.
Computing resources that are not physically attached to the robot are considered External Computing resources. The use of External Computing resources is allowed, but only in the Arena Network and with a prior approval of the TC. Teams must inform the TC about the use of any External Computing at least one month before the competition. Note, however, that robots must be able to operate safely even if External Computing is unavailable.
External Computing devices must be placed in the External Computing Resource Area (ECRA), which is announced by the TC during the Setup Day. The organizer may request to the teams to bring a LAN switch to connect to the Arena wireless network in the ECRA.
During a Competition Task, everyone must stay at least 1 [m] away from the ECRA. Interacting with anything in the ECRA after the TC has given the start signal for a test will result in the test being stopped with a score of zero.
Teams are allowed to use External Computing through the internet connection of the Arena Network; this includes cloud services or online APIs. These must be announced to and approved by the TC during the Setup Day.
Each task has a main objective and a set of bonus scores. Bonus points can be scored even if the main objective of the task is accomplished partially.
The scoring system has the following constrains:
- Regular Tasks: The maximum total score per task is 500 points (bonuses included).
- Minimum score: The minimum total score per test is 0 points.
In principle, teams cannot receive negative points, except if they receive penalties. In particular, penalties for not attending can result in a total negative score.
Scoring will be carried out by two (2) different team members; one from the competing team and one from another team as scorers, following this formula:
- Team
$(a+n) mod(n)$ : one (1) scorer - Team
$(1+a+n) mod(n)$ : one (1) scorer
Note
For example, if the number of participant teams are 3 teams, the order will be the following:
- First Task:
- Team 1 competing: a member from Team 1 and Team 2 (two (2) scorers)
- Team 2 competing: a member from Team 2 and Team 3 (two (2) scorers)
- Team 3 competing: a member from Team 3 and Team 1 (two (2) scorers)
- Second Task:
- Team 2 competing: a member from Team 2 and Team 3 (two (2) scorers)
- Team 3 competing: a member from Team 3 and Team 1 (two (2) scorers)
- Team 1 competing: a member from Team 1 and Team 2 (two (2) scorers)
- Third Task:
- Team 3 competing: a member from Team 3 and Team 3 (two (2) scorers)
- Team 1 competing: a member from Team 1 and Team 1 (two (2) scorers)
- Team 2 competing: a member from Team 2 and Team 2 (two (2) scorers)
- And so on
The competition of iHR-C3 will be carried out following a predetermined procedure. Please, pay attention to the following points.
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Emergency Stop: At any time when operating the robot inside and outside the scenario the owners have to stop the robot immediately if there is a possibility of dangerous behavior towards people and/or objects.
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Stopping on request: If a member of the Technical or Organizational committee, an Executive or Trustee of the federation stops the robot (by pressing the emergency button) there will be no discussion. Similarly if they tell the team to stop the robot, the robot must be stopped immediately.
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Penalties: If the team does not comply, the team and its members will be excluded from the ongoing competition immediately by a decision of the Technical Committee (TC). Furthermore, the team and its members may be banned from future competitions for a period not less than a year by a decision of the RoboCup JapanOpen Federation Trustee Board.
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Regular Tasks: During a regular task, the maximum number of team members allowed inside the Arena is one (1). Exceptions are tasks that explicitly require volunteer assistance.
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Setup: During the setup of a task, the number of team members inside the Arena is not limited.
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Open Challenge: During the Open Challenge, the number of team members inside the Arena is not limited.
Fair Play and cooperative behavior is expected from all teams during the entire competition, in particular:
- while evaluating other teams,
- while scoring, and
- when having to interact with other teams’ robots.
This also includes:
- not trying to cheat (e.g., pretending autonomous behavior where there is none),
- not trying to exploit the rules (e.g., not trying to solve the task but trying to score), and
- not trying to make other robots fail on purpose.
- not modifying robots in standard platforms.
Warning
Disregard of this rule can lead to penalties in the form of negative scores, disqualification for a test, or even for the entire competition.
Unless stated otherwise, it is expected that the robot always behave and react in the same way a polite and friendly human being would do.
Please consider that average users will not know the specific procedure to operate a robot. Hence, interaction should be as with any other human being.
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No touching: During a test, the participants are not allowed to make contact with the robot(s), unless it is in a “natural” way and required by the task.
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Natural interaction: The only allowed means to interact with the robot(s) are gestures and speech.
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Natural commands: Anything that resembles direct control is forbidden.
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Remote Control: Remotely controlling the robot(s) is strictly prohibited. This also includes pressing buttons, or influencing sensors on purpose.
Warning
Disregard of this rule can lead to penalties in the form of negative scores, disqualification for a test, or even for the entire competition.
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Touching: Gently touching objects is tolerated but unadvised. However, robots are not allowed to crash with something. The "safety first!" rule overrides any other rule.
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Major collisions: If a robot crushes into something during a test, the robot is immediately stopped. Additional penalties may apply.
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Functional touching: Robots are allowed to apply pressure on objects, push away furniture and, in general, interact with the environment using structural parts other than their manipulators. This is known as functional touching. However, the robot must clearly announce the collision-like interaction and kindly request not being stopped.
Warning
TC can (and will) immediately stop a robot in case or suspicion of dangerous behavior.
Robots not obeying the rules are stopped and removed from the Arena.
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It is the decision of the TC member monitoring the test if and when to remove a robot.
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When told to do so by the TC member monitoring the test, the team must immediately stop the robot, and remove it from the Arena without disturbing the ongoing test.
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More than 1 team member is allowed to enter the Arena after the robot has been stopped to quickly remove the robot from the Arena.
The default start signal (unless stated otherwise) is door opening. The robot is waiting behind the door, outside the Arena and accompanied by a team member. The test starts when a TC (not a team member) opens the door.
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Start position: Unless stated otherwise, the robot starts outside of the Arena.
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Entering: The robot must autonomously enter the Arena.
All tests are monitored by a referee, who is a member of the Technical Committee (TC). The TC may appoint an assistant scorer to aid in keeping time and filling in scoresheets. The following rules apply:
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Referee Selection: Referees are EC/OC/TC members.
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Referee instructions: Right before each test, referee chooses one or more assistant to aid during the test. The assistants will be instructed by the referee.
Note
Please, check the Regular Tasks Evaluation section for further information about the assistant selection process.
Unless stated otherwise, robots are operated by a person selected by the competing team. However, in some cases, operators other than the competing team may be selected by the TC.
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Regular Task: The time limits set for each task are strictly followed. Please, check each task time limit in the rules section.
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Setup time: Unless stated otherwise, there is 5 minutes for setup time. Robots need to be ready right after the door has been closed to the former team.
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Time-up: When the time is up, the team must immediately remove their robot(s) from the Arena. No additional points will be scored.
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Show must go on: On special cases, the TC may let the robot continue the test for demonstration purposes, but no additional points will be scored.
Because the Show Must Go On
In many real-life situations, a minor malfunction may prevent the robot from accomplishing a task. To prevent this situation, while fostering awareness and human-robot interaction, robots are allowed to request human assistance during a task.
Note
The request from the robot should be concrete. The robot should mention the mistake if a human misunderstands the request or behaves incorrectly.
The procedure to request human assistance while solving a task is as follows:
- Request help: The robot must indicate loud and clear that it requires human assistance.
It must be clearly stated:
- The nature of the assistance
- The particular goal or desired result
- How the action must be carried out (when necessary)
- Details about how to interact with the robot (when necessary)
For each competition task, Deus Ex Machina provides various features. For further details, please check each task contents.
Note
If you want to add any additional Deus Ex Machina features, please let us know through GitHub Issue.
Volunteers will try to respond as clear as possible to the instructions given by the robot, such as "Open the door," "Move the chair," or "Take the object and put it in the hand." However, TC cannot handle events, such as unclear voice from the guests, instructions in languages other than English or Japanese, or images that are too small to read.
Warning
Directly sending commands from External Computing to the robot is prohibited even in Deus Ex Machina. The main purpose of this tool is to simplify interactions with the robot.
There is no limit the amount of times a robot can request a Deus Ex Machina feature requesting human assistance. However, using Deus Ex Machina may result in a deduction of points for the task every time it is requested. For details, please refer to the rules for each competition task.
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Bonuses: Bonus points can be scored even if the robot requests help to solve part of a task. However, partial or total score of that task might be deducted from the total score.
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Score reduction overlap: The score reduction for multiple requests of the same kind do not stack, but overlap. The total reduction applied correspond to the worse execution (higher reduction of all akin help requests). This means, a robot won’t be reduced again for requesting help to transport a second object, but a second reduction will apply when the robot asks for a door to be opened.
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Allowed types of assistance: The types of assistance allowed in a given task are specified in the respective task description. It should be noted that only the assistance types explicitly mentioned in a task description are actually allowed in a task; other types of assistance are not allowed and will nullify the obtained points for the part of the task in which they are applied. For instance, if a task focused on manipulation does not explicitly mention a Deus Ex Machina penalty for instructing a person to perform a manipulation activity, it should not be assumed that this is a loophole that can be exploited.
In iHR-C3, teams are allowed to restart as many times as they want within the time limit. However, the points earned from the completed task right after the restart will be reduced to half. After that, points will be given as it is set in the score sheet of the competition task.
In addition to penalties during the competition, penalties will also be imposed for unauthorized absence. Please check the following points until the start of the competition.
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Automatic schedule:All teams are automatically scheduled for all tests.
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Announcement: If a team cannot participate in a test (for any reason), the team leader has to announce this to the OC/TC at least 60 minutes before the test slot begins.
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Penalties: A team that is not present at the start position when their scheduled test starts, the team is not allowed to participate in the test anymore. If the team has not announced that it is not going to participate, it gets a penalty of 500 points.
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Penalty for cheating: If a team member is found cheating or breaking the Fair Play rule, the team will be automatically disqualified of the running test, and a penalty of 500 points is handed out. The Technical Committee (TC) may also disqualify the team for the entire competition.
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Penalty for faking robots: If a team starts a test, but it does not solve any of the partial tasks (and is obviously not trying to do so), a penalty of 250 points is handed out. The decision is made by the monitoring TC member.
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Extra penalty for collision: In case of major, (grossly) negligent collisions the Technical Committee (TC) may disqualify the team for a test (the team receives 0 points), or for the entire competition.
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Not showing up as scorer or volunteer: If a team does not provide a scorer or volunteer (being at the Arena on time), the team receives a penalty of 250 points, and will be remembered for qualification decisions in future competitions. Scorer missing a performance to evaluate are excluded from the scoring, and the team is disqualified from the test (receives 0 points).
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Modifying or altering standard platform robots: If any unauthorized modification is found on a Standard Platform League robot, the responsible team will be immediately disqualified for the entire competition while also receiving a penalty of 500 points in the overall score. This behavior will be remembered for qualification decisions in future competitions.
In iHR-C3, there will be no for Bonus for outstanding performance.