- Score for anything in trayA and trayB
- Score for food in trayA and trayB
- Score for tools in drawers
- Score for kitchen items in containerA
- Score for orientation-based items in containerB
- Score for task items in BinA
- Score for unknown items in BinB
- Bonus
- Penalties
- Score for entering to the dining room without collisions
- Taking any food item in the shelf
- Taking the requested object among many objects in the shelf
- Delivering the object to a person in the delivery area
- Correctly detecting a person's request and giving the item to her/him
- Bonus
- Hit penalties