First draft of GPSR 2026 (#998)

Updating the GPRS Task
Changes proposed in this pull request:
- Update section in Procedure for Command execution to include giving
the instructions consecutively or one-by-one
- Update section in Additional Rules for passing command through LLM to
get similar command
- Add to Deus ex Machina QR code will not be available

---------

Co-authored-by: Adam Golding <adam.golding@bigpond.com>
Co-authored-by: Leroy Rügemer <lruegeme@techfak.uni-bielefeld.de>

Author: 3 people

scoresheets/GPSR.tex

@@ -1,12 +1,17 @@
-\begin{scorelist}[timelimit=5]
+\begin{scorelist}[timelimit=7]
 	\scoreheading{Main Goal}
-	\scoreitem[3]{400}{Executing the task associated with each command}
-
+	\scoreitem[3]{80}{Understand the spoken command}
+	\scoreitem[3]{100}{Demonstrate a plan has been generated}
+	\scoreitem[3]{250}{Solving the command}
+	
 	\scoreheading{Bonus Rewards}
-	\scoreitem[3]{100}{Understanding a command given by a non-expert operator}
+	\scoreitem{200}{Interleaved Task Bonus}
 
-	\scoreheading{Deus Ex Machina Penalties}
-	\penaltyitem[3]{50}{Using a custom operator}
+	\scoreheading{Penalties}
+	\penaltyitem[3]{20}{Using a custom operator}
+	\penaltyitem[6]{30}{Request a rephrasing}
 	\penaltyitem[3]{50}{Bypassing speech recognition}
-	\penaltyitem[3]{400}{Instructing a human to perform parts of the task will apply a percentage penalty according to similar penalties in other tests.}
+	\penaltyitem[3]{250}{Human assistance: will apply a percentage penalty according to similar penalties in other tests.}
 \end{scorelist}
+
+

tasks/GPSR.tex

@@ -4,11 +4,6 @@ \section{General Purpose Service Robot}\label{test:gpsr}
 
 \noindent \textbf{Main Goal:} Execute three commands issued by the operator.\\
 
-\noindent \textbf{Optional Goals:}
-\begin{enumerate}[nosep]
-	\item Understand a command given by a non-expert operator.
-\end{enumerate}
-
 \subsection*{Focus}
 \emph{Task planning}, \emph{object/people detection and recognition}, \emph{object feature recognition}, \emph{object manipulation}
 
@@ -21,16 +16,12 @@ \subsection*{Setup}
         \begin{itemize}
             \item \textbf{Task location:} The task takes place inside the \Arena{}. Commands may require the robot to leave the room. The \Arena{} is in its nominal configuration for this task.
             \item \textbf{Start location:} The robot starts outside the \Arena{}. When the door opens, it must navigate towards the \textit{Instruction Point}.
-            \item \textbf{Instruction point:} The robot returns to this point after completing each command to receive the next one.
+            \item \textbf{Instruction point:} The robot returns to this point after completing all the commands.
         \end{itemize}
     \item \textbf{People:}
         \begin{itemize}
-			\item \textbf{Professional Operator:} Typically the referee, issues standard commands to the robot.
-			\item \textbf{Non-Expert Operator (optional):} A person without robotics expertise (e.g., from the audience). The referee provides the intended command goal to this operator, who then issues the instruction using their own wording.
-
-            For example, the generated command might be \textit{"Bring me a coke from the kitchen."} then the non-expert operator will be told \textit{"The robot should bring you a coke, which is found in the kitchen."}, who then tells the robot \textit{I want a coke. Go to the kitchen and get me one."}
-
-            If the robot consistently fails to understand the non-expert operator (e.g. after two retries), teams can default to a custom operator.
+			\item \textbf{Professional Operator:} The referee issues standard commands to the robot.
+            If the robot consistently fails to understand the command (e.g. after three tries), teams can use a custom operator.
         \end{itemize}
 \end{itemize}
 
@@ -41,9 +32,8 @@ \subsection*{Setup}
 \subsection*{Procedure}
 \begin{enumerate}[nosep]
 	\item \textbf{Instruction point:} At least two hours before the test, the referees announce the location of the \textit{Instruction Point}.
-	\item \textbf{Test start:} The robot moves to the \textit{Instruction Point} when the arena door is open.
-	\item \textbf{Command execution:} The operator instructs the robot to execute a command and the robot performs the task.
-	\item \textbf{Back to the instruction point:} The robot goes back to the \textit{Instruction Point} and waits for the next command.
+	\item \textbf{Command execution:} The robot will decide how the commands will be issued and advise the operator, i.e., either consecutively or one-by-one. If the commands are issued one-by-one, the robot must return to the operator after completing each task.
+	\item \textbf{Back to the instruction point:} The robot goes back to the \textit{Instruction Point} after completing all the commands given by the operator.
 	\item \textbf{Pausing the Timer:} The referee pauses the timer as soon as the robot reaches the instruction point to reset the arena for the next command. The timer resumes once the referee signals the start of the next command.
 \end{enumerate}
 
@@ -53,22 +43,21 @@ \subsection*{Procedure}
 % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 \subsection*{Additional Rules and Remarks}
 \begin{enumerate}[nosep]
-	\item \textbf{Partial scoring:} The main task allows partial scoring (per \emph{completed} command).
-
-	\item \textbf{Command generator:} Tasks will be generated using the official command generator\footnote{\url{https://github.com/RoboCupAtHome/CommandGenerator}}.
-
-	\item \textbf{Non-Expert Operators:}
-    \begin{itemize}[nosep]
-        \item Referees must not assist non-expert operators in phrasing the commands.
-        \item Teams are not allowed to coach, instruct, or bias non-expert operators. Doing so results in disqualification from the task.
-    \end{itemize}
+	\item \textbf{Interleaved Task Bonus:} The robot receives an additional bonus if it successfully completes commands in an interleaved order rather than strictly consecutively. This bonus is awarded only when all three commands are received at once. The interleaved execution must be meaningful, for example by saving time or reducing unnecessary movements.
+	\textit{Example:} The robot first picks up an object, then performs another task along the way, and only afterward delivers the object to its original destination. 
+	\item \textbf{Partial Scoring:} The solution allows partial scoring.
+	\item \textbf{Command generator:} Tasks will be generated using the official command generator\footnote{\url{https://github.com/RoboCupAtHome/CommandGenerator}}. Once a command has been generated it will be entered into an LLM to re-generate a similar phrase, e.g. the generated command is "get me a coke from the kitchen" re-phrased command is "Go to the kitchen, find a coke, and bring it to me". Each command may be re-phrased up to 3 times getting simpler with each rephrasing.   
+	\item \textbf{Test start:} The robot moves to the \textit{Instruction Point} when the arena door is open.
+	\item \textbf{Team Coaching:} Teams are not allowed to coach, or instruct the operators. Doing so results in disqualification from the task.
+	\item \textbf{Custom Operators:} If a custom operator is used they can only choose between the three re-phrased commands to give.
 
-	\item \textbf{Deus ex Machina:} Score reductions apply in the following cases:
+	\item \textbf{Autonomy Skip:} Score reductions apply in the following cases:
 	\begin{itemize}
-		\item Use of a custom operator
-		\item Bypassing speech recognition with an alternative HRI.
-		\item Receiving human assistance to accomplish a command 
-		\item Instructing a human assistant to perform the whole task
+		\item Use of a custom operator.
+		\item Bypassing speech recognition.
+		\item Receiving human assistance to accomplish a command.
+		\item Instructing a human assistant to perform the whole task.
+		\item QR codes will not be available.
 	\end{itemize}
 \end{enumerate}
 
@@ -81,15 +70,14 @@ \subsection*{OC Instructions}
 
 At least two hours before the test:
 \begin{itemize}[nosep]
-	\item Generate the robot commands (do not reveal them to the teams).
+	\item Generate the robot commands and pass through LLM to get a similar command (do not reveal them to the teams).
 	\item Announce the location of the instruction point.
 	\item Recruit volunteers to assist during the test.
-	\newline
 \end{itemize}
 
 \noindent During the test:
 \begin{itemize}[nosep]
-	\item Restore the arena to its nominal state before each command execution.
+	\item The arena will be setup for all command executions.
 \end{itemize}
 
 \subsection*{Score Sheet}