Evaluation

In order to evaluate the achieved skills, we set up the following standard tasks with some variations.

1. move the ball to a specified circle of radius 25cm in the middle size class, and 8cm in the small size. Variations are different configurations of the ball near the robot and the target area.
2. move the ball to the goal whose size is specified in the regulations. Variations are the same as the above.
3. 1 and 2 with stationary obstacles (the number of obstacles changes from task to task) and moving obstacles (the number of obstacles is fixed, but the policy including speed can change from task to task).

The speed and the accuracy are the main issues in Level I.