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The 6th Kibo Robot

Programming Challenge
Rulebook

Version 1.0 (Revision date: April 1, 2025)

Japan Aerospace Exploration Agency (JAXA)

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Revision History

Revision history is listed below.

Revision Date Version Paragraph Revision Location

April 1, 2025 1.0 All -
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Table of Contents
1. Introduction ............................................................................................................................ 1
2. Preliminary Round.................................................................................................................. 2
2.1. Preliminary Round Period ............................................................................................... 2
2.2. Game Rules ...................................................................................................................... 3
2.2.1. Game Flow ............................................................................................................... 3

2.2.2. Preconditions............................................................................................................ 5

2.2.3. Objects ...................................................................................................................... 7

2.2.4. Mission Completion Report ................................................................................... 11

2.2.5. Keep-In-Zone (KIZ) & Oasis Zone ....................................................................... 11

2.2.6. 10 Automatic Executions per APK ....................................................................... 15

2.3. Scoring ........................................................................................................................... 16
2.3.1. Factors .................................................................................................................... 16
2.4. Participation in the Preliminary Round ....................................................................... 18
2.4.1. How to Participate in the Preliminary Round ..................................................... 18
3. Final Round ........................................................................................................................... 19
3.1. Final Round Schedule ................................................................................................... 19
3.2. Game Rules .................................................................................................................... 20
3.2.1. Game Flow ............................................................................................................. 20

3.2.2. Preconditions.......................................................................................................... 22

3.2.3. Objects .................................................................................................................... 22

3.2.4. Mission Complete Report ...................................................................................... 22

3.2.5. Keep-In-Zone (KIZ) and Oasis Zone ................................................................... 22

3.2.6. 1 Run per APK........................................................................................................ 22

3.2.7. 5 Minute Time Limit .............................................................................................. 23

3.2.8. APK Operation on the Day of the Final Round ................................................... 23

3.2.9. Final Round Run Order.......................................................................................... 24

3.3. Scoring ........................................................................................................................... 26
3.3.1. Factors .................................................................................................................... 26

3.3.2. Judging ................................................................................................................... 26

3.4. Participating in the Final Round................................................................................... 26
3.4.1. Submit APK and Source Code .............................................................................. 29
3.5. Organizing the Event .................................................................................................... 29
Appendix 1 ............................................................................................................................... 1
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1. Introduction
The 6th Kibo Robot Programming Challenge (Kibo-RPC) is here. Create the best
program to see if you can win.
A preliminary round will be held in each country/region to select their
representatives. Participants compete using programs they have developed
beforehand using JAXA's simulation environment. Game rules and scoring are
basically the same in each country/region, although some have adopted their own
evaluation criteria, so be sure to check your local Kibo-RPC website for details.
Information regarding venue and dates will be made available by the point of
contact (POC) in each country/region. This Rulebook contains general rules for all
participants.
The winning teams from each preliminary round get to compete to be the best in
the world in the final round where they will program and operate an Astrobee
free-flying robot in the Japanese Experiment Module KIBO, which is part of the
International Space Station (ISS).

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2. Preliminary Round
2.1. Preliminary Round Period
The preliminary rounds will be held separately in each country/region during the
period, so please participate in the preliminary round held in the country/region
where you are registered. The preliminary round information for each
country/region can be found on the official Kibo-RPC website
( https://jaxa.krpc.jp/ ). For more information, please contact your
country/region POC.

Question Acceptance Deadline*1: June 19, 2025, 12:00 (JST)

APK Submission Period: May 27-June 19, 2025, 23:59 (JST)

Preliminary Round Period: June 20 to July 6, 2025

*1
Any questions submitted after this date will receive a delayed response.

Figure 2.1-1 Preliminary Round Period

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2.3. Game Rules

2.3.1. Game Flow

To control NASA's Astrobee in the Preliminary round, please create a program to
complete the following game using JAXA's web simulation environment.

Within a time limit, Astrobee will be moved from the starting position (dock station)
to a candidate location in Kibo where the treasure is hidden, and all images will be
read. Astrobee will then be moved to the astronauts' site, where it will read the im-
ages of the treasure and landmarks in the astronauts' possession to provide clues to
locate the real treasure. After reading the images, the player moves to the location
where the real treasure is hidden, takes a picture of the treasure, flashes the Signal
Lights to signal that he/she has found the treasure, and tells the astronaut where
the treasure is hidden to complete the mission.
1. Start from the docking station.
2. After starting, Astrobee will patrol several candidate sites aboard Kibo where
treasures are hidden.
3. Each team may choose a route through the Oasis Zones*1, where they receive
points for passing through, and report what they find at each candidate location
for hidden treasures.
4. Once all Astrobee has visited all of the sites, go to the astronaut and read the
im-age of the real treasure and its nearby landmark. This will reveal the identity
of the real treasure.
5. Go to the real treasure and take a picture.
6. After taking the photo, activate the Signal Lights to inform the astronaut of the
treasure's location, and the mission is complete.
*1
7. Oasis Zone: Points will be added as long as Astrobee is moving through this
area.
*1
Oasis Zone... Points will be added as long as Astrobee is moving through this area.

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Figure 2.2.1-1 Game Flow

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2.3.2. Preconditions
Table 2.2.2-1 Preconditions for Preliminary Round

# Content

The starting position is the Dock Station, and the timer starts once Astrobee
1
undocks.
There are 11 types of Lost Item images placed in each area. Breakdown: (3
Tresure Items, 8 Landmark Items)
Prepare an AR tag on the same plane as the printed surface of Lost Item.
The search area for Lost Item (hereinafter referred to as "Area") is limited to
2
four locations.
The area is specified as a plane, and one Lost Item is placed somewhere within
the Area.
Lost Item placement is random.
The Target Item is randomly selected from one of the Tresure Items in the
3
game.
The following information will be presented to participants in advance. For
more information on AR tags and Lost Item, please refer to section 2.2.3.
1. Orientation of the position of the starting point (StartPoint)
2. Report position to an astronaut (RoundingCompletionPoint)
4 3. Location and size of each area
4. Total number of Areas
5. Types of images to be placed and examples of difficulty levels
6. Location and size of the oasis zones
7. Parameters for a given angle and distance
Oasis Zones are set up along the route, where points are added according to
the time spent in the zone. This oasis zone is given as a precondition. Please
5 see section 2.2.5 for details.
*Depending on the team's strategy, Astrobee does not have to go through the
Oasis Zone.

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Table 2.2.2-2 Coordinates (StartPoint and RoundingCompletionPoint to the astronaut)

Coordinates Orientation
Point
x y z x y z w
Start 9.815 -9.806 4.293 1 0 0 0
Astronaut 11.143 -6.7607 4.9654 0 0 0.707 0.707

Table 2.2.2-3 Coordinate Information (Area)

x_min y_min z_min x_max y_max z_max

1 10.42 -10.58 4.82 11.48 -10.58 5.57
2 10.3 -9.25 3.76203 11.55 -8.5 3.76203
Area*
3 10.3 -8.4 3.76093 11.55 -7.45 3.76093
4 9.866984 -7.34 4.32 9.866984 -6.365 5.57
*Area is displayed as a plane.

Kibo
Entrance

Figure 2.2.2-1 Definition of a Coordinate

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2.3.3. Objects
Table 2.2.3-1 Objects for Preliminary Round

# Object Name Process

1 Lost Item List Tresure Item (3 types)

crystal diamond emerald

Landmark Item (8 types)

coin compass coral

fossil key letter

shell Treasure_box

*The size of the Lost Item placed in the Area changes depending
on the image difficulty level.

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2 AR Tag AR Tag Information (No size change between Lost Item and Target
Information Item)

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3 List of Lost Item

Level Image Examples
image levels
placed in each 1
area

(Landmark
Items only)
2

*Levels are subject to change based on all participants.

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4 List of Lost Item

Level Image Examples
image levels
placed in each 1 Level 1 image of Lost Items including Tresure Item are

area not available.

(When 2
Landmark Items
and Tresure
Items are
displayed) 3

*Levels are subject to change based on all participants.

5 Example of
Target Item
display

*Levels are subject to change based on all participants.

*Target Item displays two types of items: Tresure Item and

Landmark Item.

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6 Examples of
Area 1 Area 2 Area 3
images displayed
in each Area and
as Target Item

Area 4 Target Item

*The level of Lost Item placed depends on the difficulty level of the
simulator.
*One Tresure Item and two Landmark Items are placed in the
Target Item. One of the Landmark Items is placed with the Tresure
Item in the Area, but the other is different.

2.3.4. Mission Completion Report

To complete the mission, you need to create a report using the QR code you scan.

Please see takeTargetItemSnapshot() in chapter 7 of the Programming Manual for

the API to use in the Mission Completion Report.

2.3.5. Keep-In-Zone (KIZ) & Oasis Zone

Astrobees may move within Keep-In-Zones (KIZ), which means basically within the
walls of Kibo. These are the Astrobee's pre-set boundaries, and if the destination
set is outside a KIZ, the command will be rejected. In other words, it is necessary
to program the Astrobee to move only within the KIZs.

Oasis Zones are areas within the KIZ where Astrobee will be scored based on the
time it spends in that zone. 6th Kibo-RPC will add Oasis Zones, which will require
participants to be more strategic in designing Astrobee's travel routes. (Figure
2.2.5-1, 2.2.5-2, 2.2.5-3, Table 2.2.5-1）

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Figure 2.2.5-1 KIZ and Oasis Zone for the Preliminary Round (Top View)

Figure 2.2.5-2 KIZ and Oasis Zone for the Preliminary Round (Side View)

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Figure 2.2.5-3 Oasis Zone for the Preliminary Round (Diagonal View)

Table 2.2.5-1 shows the coordinates of KOZ and KIZ. Figure 2.2.5-4 shows the
definition of coordinates (x_min, y_min, z_min) and (x_max, y_maxm z_max).

Table 2.2.5-1 Location Coordinates of Obstacles

x_min y_min z_min x_max y_max z_max

オアシスゾーン 1 10.425 -10.2 4.445 11.425 -9.5 4.945
オアシスゾーン 2 10.925 -9.5 4.945 11.425 -8.45 5.445
オアシスゾーン
オアシスゾーン 3 10.425 -8.45 4.945 10.975 -7.4 5.445
オアシスゾーン 4 10.925 -7.4 4.425 11.425 -6.35 4.945
KIZ 1 10.3 -10.2 4.32 11.55 -6.0 5.57
KIZ
KIZ 2 9.5 -10.5 4.02 10.5 -9.6 4.8
*The origin of the coordinate axis is set outside of Kibo.

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Kibo
Entrance

Figure 2.2.5-4 Definition of Coordinates

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2.3.6. 10 Automatic Executions per APK

In the preliminary round, each Android Application Package (APK) will be
automatically executed 10 times and will include random elements to make it fair
for everyone. The image generation patterns, and random elements will be
different for every run. Therefore, rankings will be determined using the average
value instead.

This allows all participants to compete on the same terms, regardless of whether
their results happen to be good or bad. Please see Section 2.3 for details
regarding scoring criteria.

Figure 2.2.6-1 10 Runs

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2.4. Scoring

2.4.1. Factors
Your team's score will be calculated based on the following factors

Table 2.3.1-1 Scoring Factors for Preliminary Round

# Criteria Details
1 Matching of Area Points will be awarded if the type and number of Lost Items
and Item randomly placed in each Area are accurately processed and
recognized.
Lost Item displays are divided into difficulty levels, with
higher levels (more difficult image processing) resulting in
higher scores.
Please note that Treasure Items may be displayed along with
Landmark Items, but no points are awarded for matching a
Treasure Item to an Area.

2 Reporting Scoring is based on the arrival coordinate when the patrolʼs

coordinate of the completion report is submitted.
patrol's Points will be awarded if the coordinates reached are within

completion 0.30m from the given coordinates.

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3 Photo Angle and Scoring based on the angle of view of the camera and the
Position of Target coordinates when reporting the location of the Target Item.
Item Points will be awarded when both I and II below are satisfied.
I. Scores are based on the angle of view of the camera at
the time the Target Item is reported. The angle of view is
determined based on the acquired NavCam position and
orientation of the Target Item, and points will be
awarded if the angle of view is within the 30° angle of
view.
II. Scoring is based on the coordinates at the time the
Target Item is reported. Points will be awarded if the
coordinates obtained are within 0.9 m of the plane of the
area.

4 Mission Time The time limit remaining at the time of reporting the Target
Remaining Item is converted into points and additional points are
awarded. There is a limit to the additional points based on the
remaining time. If you complete the mission with a certain
amount of time remaining, you will receive a uniform amount
of additional points.

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5 Astrobee flight If the Astrobee's flight path was within the Oasis Zone, it will
path score points based on the time it spent in that zone, with
different points awarded for different locations within a single
Oasis Zone.

*Scores are calculated starting from the center of Astrobee.

2.5. Participation in the Preliminary Round

2.5.1. How to Participate in the Preliminary

Round
Participants must submit APKs for the preliminary round by the submission
deadline.

Detailed submission instructions will be announced at a later date.

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3. Final Round
3.1. Final Round Schedule
Only representative teams can participate in the final round. Teams may refine
their programs from the Preliminary Round for the APK Final Run (on ISS) and
submit the APK and source code before the deadline. Please see Section 3.4 for
details.

1) Draft source code submission deadline: Late July 2025 (JST)*1）

2）APK Final Run program submission deadline: Late August 2025 (JST)*2）

*1）JAXA will check APK source codes to ensure that they will not have a negative
impact on the Astrobee and if necessary ask participants to modify the code.

Please submit only the source code for the pre-check. Submission
instructions will be provided at a later date.

Due to the short revision period, please make arrangements in advance.

（Many revisions have occurred in previous years.）

*2）You will be required to submit both APK and source code when
submitting the final version.

Submission instructions will be provided at a later date, but please refer to

section 3.4.
Failure to submit by the deadline may result in not being able to
participate in the APK Final Run, so please be sure to submit on
time.

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3.2. Game Rules

3.2.1. Game Flow

In the Final Round, the Astrobee on the ISS will be required to patrol each area from
the starting position within a time limit*1 and recognize the placement of the Lost
Item. Then, the Astrobee moves to the Astronaut and asks for clues to the treasure.
Finally, each team will create a program to move to the vicinity of the treasure,
photograph it, and then report the results. Basically, the process is the same as in
the preliminary round, but Astrobee's behavior when reporting mission
completion is different. There is no change in the program, but in the real
environment, Astrobee will run SignalLights according to the API.

① Start from Dock Station.

② After starting, Astrobee will patrol several candidate sites aboard Kibo where
treasures are hidden.
③ Each team may choose a route through the Oasis Zones*1, where they receive
points for passing through, and report what they find at each candidate location
for hidden treasures.
④ Once all Astrobee has visited all of the sites, go to the astronaut and read the
im-age of the real treasure and its nearby landmark. This will reveal the identity
of the real treasure.
⑤ Go to the real treasure and take a picture.
⑥ After taking the photo, activate the Signal Lights to inform the astronaut of the
treasure's location, and the mission is complete.
*1
Oasis Zone... Points will be added as long as Astrobee is moving through this area.

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Figure 3.2.1-1 Final Round Game Flow

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3.2.2. Preconditions
Table 3.2.2 Preconditions for Final Round

# Content
Conditions for start and finish positions, Area, etc. are the same as for the
1-4 Preliminary round. Please refer to section 2.2.2 for details.
*Coordinate information may be revised in the future.

Some information on KIZ or Oasis Zone may change from the preliminary
5
round. We will release details as soon as they are finalized.
Creating a program that can perform well in the actual environment on board
the ISS is important as the environmental conditions in orbit differ from those of
the simulation.

3.2.3. Objects
There will be no major changes from the preliminary round. Details will be
released as soon as they are finalized.

3.2.4. Mission Complete Report

There will be no major changes from the preliminary round. Details will be
released as soon as they are finalized.

3.2.5. Keep-In-Zone (KIZ) and Oasis Zone

Details will be released as soon as they are finalized.

3.2.6. 1 Run per APK

In the same way as in the preliminary round, teams will submit one APK, but in
the final round it will only be run once on the ISS using the Astrobee. It will be
impossible to redo or stop once started, so do your best because this will be a
one-off chance.

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If the Astrobee experiences a problem such as getting stuck, under the rules in
Section 3.2.9 you will be given the opportunity for a re-run..

3.2.7. 5 Minute Time Limit

If the time limit is exceeded, the APK will automatically shut down. Please
program to complete the mission within the time limit. Even if the time limit is
not reached, the game is automatically considered over if the Astrobee gets
stuck or loses its self-position. The system may also terminate without waiting
for the time limit when it is judged that no further operation can be expected
for any reason.

3.2.8. APK Operation on the Day of the Final

Round
Participants may not operate their APKs on the day of the final round.
Submitted APK will be checked by the JAXA/NASA technical team and
preinstalled on the Astrobee. APKs are started with an execution command
from ground operators.

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3.2.9. Final Round Run Order

In the final round, teams will be divided into three tiers according to the results
of the preliminary round and runs will be performed in that order. An example
of team tier grouping is shown in Table 3.2.9.

*Please note that changes may be made to the tiers.

＊Tier divisions are subject to change.

Table 3.2.9 Team Divisions

Tier Preliminary Round Score Results
1st Tier 1st place
2nd place
3rd place
4th place
2nd Tier 5th place
6th place
7th place
8th place
3rd Tier 9th place
10th place
11th place
12th place

If the Astrobee gets stuck due to a problem in orbit, the team will be given
another chance to run the mission again before moving on to the next tier as
long as there is enough time left in the event. However, if the problem is
caused by the APK created by the participant, there will be no rerun. Please
note that there is limited time to conduct the competition in orbit, and teams
with lower rankings in the preliminary round may not be able to run their
mission on the day of the final round. For more information, please refer to
Figure 3.2.9.

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Figure 3.2.9 Example of Team Order for Final Round

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3.3. Scoring

3.3.1. Factors
The scoring criteria are the same as in the qualifying round. Please refer to
section 2.3.1 for details.

3.3.2. Judging
Only one run is allowed for the in-orbit final. As a result, the team's score
will be the result of 1 run, not the average.

3.4. Participating in the Final Round

Participants in the final round must do the following.

(1) Change APK application ID and APK name

You must change the APK application ID and name as shown in Table 4.4
and included your country/region name. When submitting your APK,
check that you have made the changes before uploading it to the Web
Simulator. The Kibo-RPC Secretariat uses these names to identify the file
when installing and executing the APK. Please refer to Section 3.3.3 of the
Programming Manual for details on how to set the application ID, etc.

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Table 4.4 Various Naming Conventions

Country Application ID APK name APK file name Short
name
Australia jp.jaxa.iss.kibo.rpc.australia australia australia.apk australia
Bangladesh jp.jaxa.iss.kibo.rpc.banglad banglades bangladesh.ap banglades
esh h k h
Indonesia jp.jaxa.iss.kibo.rpc.Indonesi Indonesia Indonesia Indonesia
a
Japan jp.jaxa.iss.kibo.rpc.japan japan japan.apk japan
Malaysia jp.jaxa.iss.kibo.rpc.malaysia malaysia malaysia.apk malaysia
Nepal jp.jaxa.iss.kibo.rpc.nepal nepal nepal.apk nepal
Philippines jp.jaxa.iss.kibo.rpc.philippin philippines philippines.apk philippines
es
Singapore jp.jaxa.iss.kibo.rpc.singapor singapore singapore.apk singapore
e
Taiwan jp.jaxa.iss.kibo.rpc.taiwan taiwan taiwan.apk taiwan
Thailand jp.jaxa.iss.kibo.rpc.thailand thailand thailand.apk thailand
UNOOSA jp.jaxa.iss.kibo.rpc.unoosa unoosa unoosa.apk unoosa
USA jp.jaxa.iss.kibo.rpc.usa usa usa.apk usa
Vietnam jp.jaxa.iss.kibo.rpc.vietnam vietnam Vietnam.apk vietnam

(2) Send APK and source code

Please refer to section 3.4.1 of this rulebook.

(3) Confirm that everything is completed

Follow the checklist in Table 3.4-2 to confirm that you have completed the
items to be performed for the Final Round.

(4) Update the API

Please comply with the instructions of the Secretariat with regard to any
API updates.

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Table 4.4-2 Checklist

No. Item Description Related Section(s)

Section 3.4
1 Application ID Change the application ID of the APK
PG Manual Section 3.3.3
Rename the Section 3.4
2 Rename APK as per the regulations
APK PG Manual Section 3.3.3
Rename the Rename the APK file according to the
3 Section 3.4
APK File rules
Change the
Change the short name of the APK in Section 3.4
4 APK short
accordance with the rules PG Manual Section 3.3.3
name
5 MD5 Create the APKʼs MD5 Section 3.4.1(2)
Submit the APK Section 3.4.1(1)
6 Submission
Submit the source code Section 3.4.1(2)
The startmission function is called at the
PG Manual Section 7.1
beginning of the program
Completion of After recognizing the Target Item,
7 the notifyRecognitionItem is called when
PG Manual Section 7.1
Competition moving to the Lost Item that matches
the Target Item
takeTargetItemSnapshot is called PG Manual Section 7.1
Infinite loop with for or while is not
PG Manual Section 5.1
Software implemented
8
Safety No danger of infinite loops due to
PG Manual Section 5.1
recursion
9 Resource Load No extra resources in the source code －

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3.4.1. Submit APK and Source Code

You need to submit your program by the deadline for the final round. After
submission, JAXA and NASA will review the source code in advance for safety
reasons. Therefore, please submit the APK and source code according to the
following procedure. (At the time of the preliminary review, only the
source code will be submitted)

Due to the short time available for code modifications, please keep your
schedules clear.

（Many revisions have occurred in previous years.）

Detailed submission instructions will be announced at a later date.

3.5. Organizing the Event

The 6th Kibo-RPC will be held in a similar format as that of the 5rd Kibo-RPC,
which is shown in Figure 4.5. JAXA will run the Astrobee and finalists' APKs in
advance. Footage of the competition is scheduled to be broadcast live, and
finalists will be able to watch footage of their own runs. A final round event,
featuring commentary by experts watching the pre-run footage, will be held at
a later date. Finalists will be contacted by the Secretariat via email with more
details..

Figure 3.5 Flow up to the day of the event

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Appendix 1
This will be the definition of terms used in the 6th Kibo-RPC.

用語 定義

Kibo-RPC Abbreviation for Kibo Robot Programming Challenge, a programming

competition using robots on the ISS.

ISS Abbreviation for International Space Station.

Kibo The Japanese Experiment Module developed by JAXA on the ISS. Also
known as JEM (Japanese Experiment Module), this is where this game
will take place.

Astrobee Free-flyer robot developed by NASA that will be used in this game.

Area A plane representing a potential location for a Lost Item, set on an ISS
wall or Airlock.

Lost Item A collective term for the images placed in each Area. Lost Items are
categorized into two types: Treasure Items and Landmark Items.

Target Item In the game, this word represents the real treasure the astronaut is
searching for.

Tresure One type of Lost Item, of which there are three different images. In this
Item game, two or more are placed in each Area, but the real treasure the
astronaut is searching for will be randomly chosen from these.

Landmark One type of Lost Item, of which there are eight different images. In this
Item game, points are awarded for accurately reporting the type and number
of Landmark Items located in each Area to the astronaut.

AR Tag An AR marker used to identify the location and orientation of an Item.

KIZ Abbreviation for Keep-In-Zone, the range within which an Astrobee can
move.

Oasis Zone Located within KIZ, points are awarded based on the time spent in this
zone. The points earned can vary depending on the specific location
within a single Oasis Zone.。

Crew Used interchangeably with astronaut.