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## Rulebook [Current Draft]
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*[#997](https://github.com/RoboCupAtHome/RuleBook/pull/997): Removed QR codes from Rulebook.
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* Showing QR code is too unnatural.
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* added clarifications to natural alternative HRI (i.e. touchscreens)
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*[#990](https://github.com/RoboCupAtHome/RuleBook/pull/990): Remove Stage system
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* The stage system was removed to simplify the competition format.
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* Previously, only a subset of teams advanced to later stages, which limited participation and reduced the number of runs per team. In the new format, all teams compete in the same set of tasks across multiple days, ensuring more consistent evaluation.
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* The new structure also allows teams to demonstrate progress and improve their performance over the course of the competition.
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* The number of tasks was reduced to four (repeated each day) plus the Restaurant test.
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* A goal is to reduce unnecessary repetition of skills across tasks, making each task more meaningful and distinct.
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*[#987](https://github.com/RoboCupAtHome/RuleBook/pull/987): Merge both leagues - Remove DSPL.
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* A single, unified RoboCup@Home league takes effect immediately.
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*[#969](https://github.com/RoboCupAtHome/RuleBook/pull/969): Remove optional Tray in **Clean the Table**
The competition consists of a series of tasks, repeated on each competition day, designed to test specific robot capabilities, followed by a \FINAL{} as the final evaluation of the teams' overall performance.
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The competition is divided into two stages, followed by a \FINAL{}. Each stage consists of a series of tasks designed to test specific robot capabilities, with the \FINAL{} being the final evaluation of the teams' overall performance.
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\begin{enumerate}
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\item\textbf{Robot Inspection:}
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All teams must pass a \RobotInspection{} during the \SetupDays{} to be eligible for competition. (see~\refsec{sec:robot_inspection})
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\item\textbf{\SONE{}:} The first stage of the competition, \SONE{}, is open to all teams that have passed the \RobotInspection{} test. This stage includes tasks that test basic robot capabilities.
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All teams must pass a \RobotInspection{} during the \SetupDays{} to be eligible for competition (see~\refsec{sec:robot_inspection}).
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\item\textbf{\STWO:} \STWO{}, is open to the top 50\% of teams from \SONE{}. If the total number of teams is less than 12, up to 6 teams may advance to \STWO{}.
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This stage requires more complex advanced or combinations of abilities.
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\item\textbf{Tasks:}
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Teams compete in a set of tasks that evaluate different robot abilities.
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Each task is repeated on multiple competition days, giving teams more than one opportunity to attempt it.
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For ranking purposes, the \emph{best score} obtained in each task is considered.
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\item\textbf{\FINAL:} The top \emph{three teams}, namely the ones with the highest score after \STWO{}, advance to the \FINAL{}.
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\item\textbf{\FINAL:} The top \emph{three teams}, namely the ones with the highest overall score, advance to the \FINAL{}.
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The final round features a single integrated task that tests all abilities evaluated throughout the competition.
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\end{enumerate}
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In cases where there is no significant score difference between teams, the \TC{} may decide to include additional teams in the next stage.
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In cases where there is no significant score difference between teams, the \TC{} may decide to include additional teams in the \FINAL{}.
\item\textbf{Test Blocks:} Each test is scheduled within a Test Block. During each Test Block, each qualified team is assigned at least two Test Slots. The Restaurant test is an exception, requiring only one Test Slot.
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\item\textbf{Daily Task Runs:}
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Each competition day features the same set of four tasks.
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Two tasks are executed in parallel in different arenas.
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Once a team completes its run in one arena, it proceeds to the other arena according to the schedule.
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\item\textbf{Team Groups:}
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Teams are assigned to fixed groups (e.g.\ A, B, C, D).
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Each block has predetermined start times for the arenas and tasks.
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This ensures an even distribution of teams across arenas and reduced waiting time.
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\item\textbf{Test Slots:} During a Test Slot, a team has a specified amount of time to complete the task.
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\item\textbf{Test Slots:} Within each arena, teams are allocated a specific Test Slot that defines the maximum time available to complete the task.
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Teams must be ready at their assigned block start time.
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\item\textbf{Participation is default:} Teams must inform the \OC{} in advance if they are skipping a Test Block. If they do not provide such notification, they may be penalized for not attending (see~\refsec{rule:not_attending}).
\item\textbf{\FINAL:} The final score is normalized.
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\item\textbf{Minimum score:} The minimum total score per test in \SONE{} and \STWO{} is \scoring{0 points}.
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\item\textbf{Minimum score:} The minimum total score per test is \scoring{0 points}.
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While teams generally cannot receive negative points, penalties can result in a total score below zero. Specifically, teams may receive penalties for not attending (see~\refsec{rule:not_attending}) and for extraordinary violations (see~\refsec{rule:extraordinary_penalties}).
\subsection{Bonus for outstanding performance}\label{rule:outstanding_performance}
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\begin{enumerate}
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\item For every regular test in \iterm{Stage~I} and \iterm{Stage~II}, the @Home \TC{} can decide to give an extra bonus for \iterm{outstanding performance} of up to 10\% of the maximum test score.
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\item For every regular test, the @Home \TC{} can decide to give an extra bonus for \iterm{outstanding performance} of up to 10\% of the maximum test score.
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\item This is to reward teams that do more than what is needed to solely score points in a test but show innovative and general approaches to enhance the scope of @Home.
\multicolumn{2}{M|}{$\xrightarrow{advance}$\newline All teams that \newline passed Inspection} &
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\multicolumn{2}{M|}{$\xrightarrow{advance}$\newline Best 6 ($<12$) \newline or best 50\% ($\geq12$)} &
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\multicolumn{2}{M|}{$\xrightarrow{advance}$\newline Best 3 \newline teams} &
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\multicolumn{1}{C{1.2cm}}{~}
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\\ \cline{2-5}
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\end{tabularx}
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\end{center}
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\end{table}
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\section{General Setup}\label{sec:general_setup}
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Depending on the schedule, the \iterm{Setup \& Preparation} phase lasts for one or two days.
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\begin{enumerate}
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\item\textbf{Start:} The \iterm{Setup \& Preparation} starts when the venue opens for the first time.
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\item\textbf{Intention:} During the \iterm{Setup \& Preparation}, teams arrive, bring or receive their robots, and assemble and test them.
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\item\textbf{Tables:} The local organization will set up and randomly assign team tables.
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\item\textbf{Groups:} Depending on the number of teams, the \OC{} may form multiple groups of teams (usually two) for the first (and second stage). The \OC{} will assign teams to groups and announce the assignment to the teams.
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\item\textbf{Groups:} Depending on the number of teams, the \OC{} may form multiple groups of teams (usually four). The \OC{} will assign teams to groups and announce the assignment to the teams.
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\item\textbf{\Arena{}:} The \Arena{} is available to all teams during the \iterm{Setup \& Preparation}. The \OC{} may schedule special test or mapping slots in which \Arena{} access is limited to one or more teams exclusively (all teams get slots). Note, however, that the \Arena{} may not yet be complete and that the last work is conducted in the \Arena{} during the \SetupDays{}.
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\item\textbf{Objects:} The delegation of EC, TC, OC and local organizers will buy the objects (see~\refsec{rule:scenario_objects}). Note, however, that the objects may not be available at all times and not from the beginning of the \iterm{Setup \& Preparation}.
\item\textbf{Sheet collection:} The evaluation sheets are collected by the \OC{} at a later time (announced beforehand by the \OC{}), allowing teams to continue knowledge exchange during the first days of the competition (\SONE{}).
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\item\textbf{Sheet collection:} The evaluation sheets are collected by the \OC{} at a later time (announced beforehand by the \OC{}), allowing teams to continue knowledge exchange during the first days of the competition.
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\item\textbf{OC Instructions:}
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\begin{itemize}
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\item Prepare and distribute evaluation sheets before the \iterm{Poster Teaser Session}.
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