diff --git a/scoresheets/Restaurant.tex b/scoresheets/Restaurant.tex
index b2491214..d5f9907a 100644
--- a/scoresheets/Restaurant.tex
+++ b/scoresheets/Restaurant.tex
@@ -5,6 +5,7 @@
 
 	\scoreitem[2]{200}{Understand and confirm the order received to the customer}
 	\scoreitem[2]{100}{Communicate the order to the barman}
+	\scoreitem[2]{200}{Picking up the requested item from the \textit{Kitchen-bar}}
 
 	\scoreitem[2]{100}{Return to the customer table with the order}
 	\scoreitem[2]{200}{Serve the order to the customer}
@@ -13,13 +14,14 @@
 	\scoreitem[2]{200}{Use an unattached tray to transport}
 	
 	\scoreheading{Regular Penalties}
-	\penaltyitem[2]{200}{Being guided to a table}
+	\penaltyitem[2]{100}{Being guided to a table}
 	\penaltyitem[2]{80}{Not making eye-contact when taking an order}
 	\penaltyitem[2]{80}{Not reaching the bar (barman has to move from behind the bar to interact with the robot)}
+	\penaltyitem[2]{80}{Asking for directional confirmation}
 
 	\scoreheading{Deus ex Machina Penalties}
-	\penaltyitem[4]{50}{Asking the Barman to handover object to the robot}
-	\penaltyitem[4]{50}{Guest needing to take the object from a tray or the robot's hand}
+	\penaltyitem[4]{100}{Asking the Barman to handover object to the robot}
+	\penaltyitem[4]{100}{Guest needing to take the object from a tray or the robot's hand}
 	\penaltyitem[2]{100}{Being told/pointed where is a table/\textit{Kitchen-bar}}
 
 \end{scorelist}
diff --git a/tasks/Restaurant.tex b/tasks/Restaurant.tex
index 2626d9cf..ef17fba2 100644
--- a/tasks/Restaurant.tex
+++ b/tasks/Restaurant.tex
@@ -21,7 +21,7 @@ \subsection*{Setup}
 	\begin{itemize}
 		\item This task takes place in a real restaurant fully equipped and in business. If this is not possible, an alternative venue may be selected, provided it resembles a restaurant environment and is outside the \Arena{}.
 		\item The \emph{Restaurant} location will remain undisclosed until the start of the test.
-		\item The robot starts next to the \emph{Kitchen-bar}. It is a designated table located near the restaurant's kitchen.
+		\item The robot starts next to the \emph{Kitchen-bar} (a designated table located near the restaurant's kitchen), facing the customer seating area (dining tables).
 	\end{itemize}	 
 	\item \textbf{People:} 
 	\begin{itemize}
@@ -63,8 +63,13 @@ \subsection*{Additional rules and remarks}
 		\item Since this task is performed outside the arena, the time limit may be longer than the others tasks.
 		\item The availability of wireless, external computing devices, or electrical outlets can't be guaranteed. Assume unavailability.
 		\item The robot must interact with the customers directly. Teams are not allowed to assist or instruct them.
-		\item The robot may use up to one minute to instruct the \textit{Professional Barman}.
-		\item The robot may request guidance to a customer's table.
+		\item The robot may use up to two minutes to instruct the \textit{Professional Barman} per order.
+		\item Examples of instructions include, but are not limited to:
+        \begin{itemize}[nosep]
+            \item Request guidance to a customer’s table.
+            \item Ask for pointing direction.
+            \item Ask to press on the screen.
+        \end{itemize}
 		\item The robot may:
         \begin{itemize}[nosep]
             \item Take and place several orders before delivery,