The Team of Bielefeld (ToBI) was founded in 2009. The

robocup activities are embedded in a long-term research history towards

human-robot interaction with laypersons in regular home environments.

The robocup@home competition is an important benchmark and mile-

stone for the overall research goal. For robocup 2011, the team concen-

trates on mixed-initiative scenarios, sophisticated scene understanding

methods including semantically annotated maps, and an easy to use pro-

gramming environment.