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RuleBook for RoboCup @Home 2022


The 2022 rulebook is based on the 2019 rulebook. The current version is final; only minor (language) updates and clarifications may be made from now on.

On-the-fly compiled LaTeX version

Released PDF version

RoboCup@Home teams and team members are welcome to post GitHub issues for clarifications, questions etc.

Improvements are also welcome in the form of pull requests (see guidelines).

Score sheets


See the Frequently Asked Questions here.

Or ask us via Telegram:

Change log

The Rulebook has being completely restructured for 2019 and later competitions. The new format was first tested at German Open 2019.


  • Less stressful competition: Each competition day will have 2 testing blocks (e.g.from 9:00 to 12:00 and from 15:00 to 18:00), giving time to teams to eat, rest, and prepare.
  • Thematic free testing: Each testing block will have assigned a scenario, namely cleaning the house or hosting a party. Teams will have assigned at least 2 testing slots to solve the task of their choise.
  • Task-driven testing: Tests are no more. The rulebook will have a battery of tasks featuring different abilities from which teams can choose which to solve. It won't be possible to solve all tasks.
  • Goal-driven scoring: A robot can only score by accomplishing the main goal of a task. In addition to the main goal, several bonus objectives are available with juicy rewards, but will be only considered if the main goal is completed.
  • Unlimited Continues: The continue rule is no more. Instead, robots may call for a Deus Ex Machina and have human assistant helping it to solve the task. There is no limit on the number of times a robot can ask for help, and the nature of the help is unconstrained. Nonetheless, a proportional score reduction applies.

These changes obey to one objective: robots must succeed.

Question, issues, and contribution Guidelines

  • When asking questions please follow these Guidelines.
  • Guidelines for setting up an issue are here. Open an issue for:
    • Typos, misspellings, and broken references.
    • The rules are unclear or poorly specified.
    • One rule contradicts another.
    • The RuleBook contains outdated information
    • Scoresheets are cryptic of hard to read.
    • Compilation and build errors.
  • To contribute directly with the rulebook (Pull Requests), please read the conventions in the Contribution Guidelines and in the Workflow Guidelines


RoboCup is an international joint project to promote AI, robotics, and related fields. It is an attempt to foster AI and intelligent robotics research by providing standard problems where a wide range of technologies can be integrated and examined. More information can be found at


The RoboCup@Home league aims to develop service and assistive robot technology with high relevance for future personal domestic applications. It is the largest international annual compe- tition for autonomous service robots and is part of the RoboCup initiative. A set of benchmark tests is used to evaluate the robots abilities and performance in a realistic non-standardized home environment setting. Focus lies on the following domains but is not limited to: Human-Robot- Interaction and Cooperation, Navigation and Mapping in dynamic environments, Computer Vision and Object Recognition under natural light conditions, Object Manipulation, Adaptive Behaviors, Behavior Integration, Ambient Intelligence, Standardization and System Integration. It is collocated with the RoboCup symposium.


The RoboCup @Home Organizing Committee is always looking for volunteers to assist in the events and willing to help to maintain the sites. Volunteers can help in tasks such as organizing and categorizing publications, team videos, memories, scores, press, and writing examples and extended rule explanations. Other projects such as developing utilities for the competition and tools for referees are also welcome. If you would like to collaborate, write to any of the members of the Organizing Committee.

Contributions and improvements to the rulebook are always welcome in the form of pull requests.

Recorded data

Data is recorded from the robots during the competition. It is available through the following links:

European Open 2016

Leipzig 2016

More information