TB3: Social Testbed

The social testbed evaluates CoreSense in human-robot interaction, following the tasks of the RoboCup@Home competition: a PAL TIAGo robot interacts with people in a domestic environment. It has been developed by URJC and PAL Robotics, with a copy of the arena at the University of León (León@Home, a certified European Robotics League testbed), at URJC and at PAL.

The main demonstrator is the RoboCup@Home HRI Challenge: the robot receives a guest, describes and introduces the person, finds a seat and helps with a bag. It uses the following CoreSense software:

• cs4home_architecture: ROS 2 implementation of the CoreSense architecture (see Cognitive modules with cs4home_architecture).

• cs4home_hri_challenge: coordination of the cognitive modules for the HRI challenge.

• cs4home_sound_module: auditory event detection and sound source localisation.

• cs4home_vision_module: scene understanding and perception of contextual entities.

• cs4home_person_tracker_module: person tracking from camera and laser detections.

• cs4home-explainability: human-understandable explanations when failures, timeouts or unexpected situations occur.

• CoreSense4Home: behaviours and bringup for RoboCup@Home.

• tiago_sw: open-source software of the TIAGo robot.

The testbed is described in the public deliverables D8.1 Social Testbed Concept and Requirements Specification and D8.3 Social Testbed Implementation.