search

RoboCupAtHome / RuleBook

Rulebook for RoboCup @Home 2024
https://robocupathome.github.io/RuleBook/
Other
149 stars 61 forks source link

Q: Defer changes to DSPL Speech and Person Recognition layout #314

Closed nickswalker closed 7 years ago

nickswalker commented 7 years ago

312 (with discussion in #289) substantially alters the difficulty and scoring of the Speech and Person Recognition task for DSPL by moving away from 360 degree sound localization (5.3.4.5). This hurts teams that have invested in 360 degree solutions, and comes fairly late in the competition cycle. Could this major change be deferred until next competition?

balkce commented 7 years ago

Are you able to do 360 degree SSL with only the hardware in the standard platform? As far as I remember, the number of microphones that come with a DPSL robot are not enough to carry out 360 SSL (at least not without some heavy duty calibration in the arena).

Remember that adding any hardware to a standard platform is not allowed.

nickswalker commented 7 years ago

We believe we can field a competitive solution using only the standard platform hardware.

kyordhel commented 7 years ago

Supporting @balkce's point, we have been informed that is not possible (regarding the state of the art) to perform 360° sound source localization with the HSR built in microphones. The TC finds absurd to test something outside robot's specification, so we came out with something the robot can actually do. While OPL and SSPL will be tracking SSL in 360°, DSPL will focus on speed in a problem that is considered pretty much solved regarding SotA.

If you believe you can solve 360° SSL with the HSR hardware, then show it in the Open Challenge, open-source your code, and then the TC will reward you accordingly for your innovation. But be prepared for hard questions as the TC/EC have two experts that have devoted their careers to audio signal processing.

LoyVanBeek commented 7 years ago

I really hope you can show this and open source the work. That way, all teams can benefit and the DSPL can advance to the level of the OPL and SSPL is this aspect of RoboCup@Home.