[Receptionist] updates for the challenge (#930)

# Proposed Solution for issue #916 
with @sunava 
Changes proposed in this pull request:
- the robot shows both guests where the drinks are and detects if their
favorite drink is available
- There are passive guests in the background
- Points for finding one hobby/interest of each guest
- At the end, only the guests get introduced 
- optional goal 'describing the first guest' changes. describe first
guest to second guest **before** reaching the living room (updated
10.01)
- guest paces from left to right during conversation with robot (update
10.01)
-  ~~Added optional goal picking up a drink~~ (updated 10.01)
- Added optional goal for finding similar interest between guests or
guest and host
- added a procedural guide for quicker and easier understanding of the
challenge
- Changed scoresheet accordingly

## Updated procedure summarized
Both guests arrive separately. The robot either opens the door for the
guest or
waits for them at the starting point. It greets the guest and asks for
their name.
The robot then guides the guest to the beverage area, where it asks for
their
favorite drink and checks if the drink is available on the table. The
robot gathers
one interest of the guest at a freely chosen moment.
After showing the guest the beverage area, the robot escorts them to the
living
room and offers a free seat. Once both guests are seated, the robot
introduces
them to each other.

## Other comments
- ~~I would suggest making it an obligation to log what the robot is
saying.
This makes the process easier for the referee in a noisy arena to check
the output quickly after the challenge~~

- The passive guests and the host could be spectators if it is not too
much effort.

---------

Co-authored-by: Tiago Ribeiro <tiagoribeiro80@gmail.com>
Co-authored-by: Leroy Rügemer <lruegeme@techfak.uni-bielefeld.de>

scoresheets/Receptionist.tex

@@ -1,22 +1,28 @@
 \begin{scorelist}[startbutton=false,timelimit=5]
 	\scoreheading{Main Goal}
-	\scoreitem[2]{15}{Guide the guest to the other guests (navigate to the guest group)}
-	\scoreitem[2]{50}{Look in the direction of navigation or at the navigation goal}
-	\scoreitem[2]{50}{Introduce a new guest to every other guest and the host}
+	\scoreitem[2]{30}{Show the guest around (navigate to the beverage area and living room)}
+	\scoreitem[2]{15}{Look in the direction of navigation or at the navigation goal}
+	\scoreitem[2]{20}{Confirm favorite drink}
+	\scoreitem[2]{20}{Confirm interest of guest}
+	\scoreitem[2]{20}{Tell position of favorite drink}
 	\scoreitem[2]{100}{Offer a free seat to the new guest}
-	\scoreitem[2]{25}{Look at the person talking}
-	\scoreitem[2]{50}{Look at the person the robot is introducing the guest to}
+	\scoreitem[2]{75}{Look at the person talking}
+	\scoreitem[1]{75}{Introduce both guests to each other}
+
 
 	\scoreheading{Bonus Rewards}
-	\scoreitem[2]{100}{Open the entrance door for a guest}
-	\scoreitem[4]{30}{Describe the first guest to the second guest (per corect attribute)}
-	\penaltyitem[4]{30}{Describe the first guest to the second guest (per incorrect attribute)}
+	\scoreitem[2]{200}{Open the entrance door for a guest}
+	\scoreitem[1]{50}{State a shared interest between two or more persons}
+	\scoreitem[4]{30}{Describe the first guest to the second guest (per correct attribute)}
 
 
 	\scoreheading{Penalties}
-	\penaltyitem{50}{Wrong guest information was memorized (continue with wrong name or drink)}
+	\penaltyitem[2]{50}{Wrong guest information was memorized (continue with wrong name or drink)}
+	\penaltyitem[2]{50}{Interest was not or wrongly memorized}
 	\penaltyitem{50}{Persistent inappropriate gaze (away from conversational partner)}
-	\penaltyitem{10}{Persistent gaze not in the direction of the navigation while moving.}
+	\penaltyitem{25}{Persistent gaze not in the direction of the navigation while moving.}
+	\penaltyitem[4]{30}{Describe the first guest to the second guest (per incorrect attribute)}
+	\penaltyitem[1]{30}{Wrongly stating a similarity}
 
 	\scoreheading{Deus Ex Machina}
 	\penaltyitem[2]{75}{Alternative HRI}

tasks/Receptionist.tex

@@ -4,13 +4,14 @@ \subsection*{Description}
 The robot has to take two new guests to the living room to introduce them and offer a free place to sit.\\
 
 \textbf{Main goal:}
-    Introduce and usher two newcomers to a party and maintain appropriate gaze direction (at person, direction of navigation).
+    The robot welcomes and assists two newcomers at a party while maintaining appropriate gaze direction during conversation (at person speaking, direction of navigation).
 
 % \vspace{-5pt}
 \textbf{Optional goals:}
 \begin{enumerate}[nosep]
 	\item Open the entrance door for each arriving guest.
-	\item Describe the first guest for the second guest.
+	\item Describe the first guest for the second guest before reaching the living room
+	\item Identify similarities between the guests and the host and incorporate them into the conversation.
 \end{enumerate}
 
 \subsection*{Focus}
@@ -23,36 +24,45 @@ \subsection*{Setup}
 	\begin{itemize}
 	\item The test takes place in the living room.	
 	\item The robot starts inside the \Arena{} at a predefined location.
+	\item A table with drinks is prepared near the living room
 	\item \textbf{Entrance:} The entrance door is open by default. The team leader can request to close the door to score additional points by opening it for the guests.
 	\end{itemize}
 
 	\item \textbf{People:} 
 	\begin{itemize}
-	\item \textbf{Host:} The host's name and favorite drink will be announced before the test. The host is already sitting in the living room.
+	\item \textbf{Host:} The host's name, favorite drink and interest will be announced before the test. The host is already sitting in the living room.
 
-	\item \textbf{Guests:} Both guests have a name and favorite drink. An arriving guest will either step in front of the robot or ring the bell or knock on the door if the door is closed. Guests have to be guided to the living room to be introduced. Each of the guest will arrive separately. The sound of the bell will be provided to teams
-	during setup period before competition (if not using door knocking).
+	\item \textbf{Arriving Guests:} Both guests have a name, favorite drink, and a interest. An arriving guest will either step in front of the robot or wait behind the door to step in if the door is closed. Guests have to be guided to the beverage area and then the living room where the robot will introduce the guests to each other. Each of the guest will arrive separately. 
+
+	\item \textbf{Passive Guests:} Other Guests: A few individuals, including possibly spectators, are standing in small groups of two or three, all over the arena but not covering relevant places e.g. the couch, seats or the area with the drinks.
 	\end{itemize}
 
 \end{itemize}
 
 \subsection*{Procedure}
+Both guests arrive separately. The robot either opens the door for the guest or waits for them at the starting point. It greets the guest and asks for their name. The robot then guides the guest to the beverage area, where it asks for their favorite drink and checks if the drink is available on the table and where it stands. The robot finds out the interest of the guest at a freely chosen moment. After showing the guest the beverage area, the robot escorts them to the living room and offers a free seat. Once both guests are seated, the robot introduces them to each other.
 \begin{itemize}
-    \item \textbf{Introductions:} When introducing guests, the robot must clearly identify the person being introduced and state their name and favorite drink. Introducing two people means to introduce them to each other.
+	\item \textbf{Greeting guests:} The person paces a little to the left and right during conversation with the robot. Other people might appear in the background
+
+	\item \textbf{Looking at person:} During verbal interactions and descriptions of people, robot 
+	looks at the conversational partner. The conversational partner will make small movements to each side to confirm the robot is dynamically looking at the person. Points for looking at the person talking, will only be awarded if the robot proves to continuously look at the moving person. 
+
+	\item \textbf{Looking at direction of navigation:} During navigation robot looks in the direction where it is going. Persistently gazing towards unrelated person or incorrect direction while moving during the task deducts points. 
+
+    \item \textbf{Smalltalk} Ask each guest for one interest.
+
+    \item \textbf{Finding the drink} The robot shows both guest the drinking area where it will ask for their favorite drink and tell the guest if and where (left, center right is enough) that drink is available on the table. 
 
 	\item \textbf{Seating People:} The robot must point at a place or location where the guest can sit.
 
 	\item \textbf{Switching Places:} Guests may switch places after they were seated.
 
-	\item \textbf{Describing the First Guest:} Naming 4 characteristics of the first guest, i.e., color of clothes, color of hair, gender, and age, earns bonus points.
-	\item \textbf{Looking at person/direction of navigation:} During verbal interactions and descriptions of people, robot 
-	looks at the conversational partner. Robot can point at the person being introduce/described or alternate gaze between two people. During navigation robot looks in the direction where it is going. Persistently gazing towards unrelated 
-	person or incorrect direction while moving during the task deducts points. 
+	\item \textbf{Introductions:} When introducing guests, the robot must clearly identify the person being introduced and state their name favorite drink and an interest. Introducing two people means to introduce them to each other. 
 \end{itemize}
 
 \subsection*{Additional rules and remarks}
 \begin{enumerate}[nosep]
-	\item \textbf{Misunderstanding:} Not understanding the guests and asking them again is fine. Continuing with a wrong name or drink causes a score reduction of 50pts.
+	\item \textbf{Misunderstanding:} Not understanding the guests and asking them again is fine. Continuing with a wrong name, drink  or interest causes a score reduction of 50pts.
 
 	\item \textbf{Partial Scoring:} The main task allows partial (per guest) scoring.
 
@@ -73,26 +83,29 @@ \subsubsection*{To Referee}
 
 The referees need to:
 \begin{itemize}
-	\item Assign name and drink to 3 volunteers.
+	\item Assign name, drink and one interest to 3 volunteers.
 	\item Arrange (and re-arrange) people in the living room.
+	\item Change the selection in the beverage area.
 	\item Open the door when requested by the robot.
 \end{itemize}
 
 \subsubsection*{To OC}
 
+
 During setup day:
 \begin{itemize}
-	\item Provide the dorbell sound (if not using door knocking).
+	\item Announce beverage location.
 \end{itemize}
 
+
 At least two hours before test:
 \begin{itemize}
 	\item Announce starting position.
-	\item Announce host's name and favorite drink.
-	\item Recruit volunteers as host and guests.
+	\item Announce host's name, favorite drink and interest.
+	\item Recruit five volunteers: one volunteer as host, two as arriving guests and 2 as passive guests.
+
 \end{itemize}
 
 % \newpage
 \subsection*{Score sheet}
-\input{scoresheets/Receptionist.tex}
-
+\input{scoresheets/Receptionist.tex}