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The RoboCup 3D Soccer Simulation League serves as a competitive platform for showcasing innovation in autonomous humanoid robot agents through simulated soccer matches.
RoboCup: a challenge problem for AI
Hiroaki Kitano, Minoru Asada, Yasuo Kuniyoshi, Itsuki Noda, Eiichi Osawa, and Hitoshi Matsubara · 1997
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The development of Honda humanoid robot
Kazuo Hirai, Masato Hirose, Yuji Haikawa, and Toru Takenaka · 1998
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RoboCup humanoid challenge: That’s one small step for a robot, one giant leap for mankind
Hiroaki Kitano and Minoru Asada · 1998
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Layered Learning in Multiagent Systems: A Winning Approach to Robotic Soccer
Peter Stone · 2000
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Symmetries and model minimization in Markov decision processes
B. Ravindran and A. G. Barto · 2001
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The complexity of decentralized control of Markov decision processes
Daniel S Bernstein, Robert Givan, Neil Immerman, and Shlomo Zilberstein · 2002
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Synthesis of walking primitive databases for biped robots in 3d-environments
Joachim Denk and Günther Schmidt · 2003
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Biped walking pattern generation by using preview control of zero-moment point
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Kazuhito Yokoi, and Hirohisa Hirukawa · 2003
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Concurrent layered learning
Shimon Whiteson and Peter Stone · 2003
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Learning from demonstration and adaptation of biped locomotion
Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato · 2004
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SimSpark–concepts and application in the RoboCup 3D soccer simulation league
Joschka Boedecker and Minoru Asada · 2008
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Generating human-like soccer primitives from human data
Carlos A Acosta Calderon, Rajesh E Mohan, Lingyun Hu, Changjiu Zhou, and Huosheng Hu · 2009
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Optimization of parametrised kicking motion for humanoid soccer player
Nicolas Jouandeau and Vincent Hugel · 2014
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Ball dribbling for humanoid biped robots: a reinforcement learning and fuzzy control approach
Leonardo Leottau, Carlos Celemin, and Javier Ruiz-del Solar · 2014
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An omnidirectional walk for a biped robot based on gyroscope-accelerometer measurement
Zhiwei Liang, Hecheng Zhao, and Yue Hao · 2014
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SimSpark: an open source robot simulator developed by the RoboCup community
Yuan Xu and Hedayat Vatankhah · 2014
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Keyframe sampling, optimization, and behavior integration: Towards long-distance kicking in the RoboCup 3D simulation league
Mike Depinet, Patrick MacAlpine, and Peter Stone · 2015
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A study of layered learning strategies applied to individual behaviors in robot soccer
David L Leottau, Javier Ruiz-del Solar, Patrick MacAlpine, and Peter Stone · 2015
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UT Austin Villa 2014: RoboCup 3D simulation league champion via overlapping layered learning
Patrick MacAlpine, Mike Depinet, and Peter Stone · 2015
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Learning to walk fast: Optimized hip height movement for simulated and real humanoid robots
Nima Shafii, Nuno Lau, and Luis Paulo Reis · 2015
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Humanoid robot’s omnidirectional walking
Shixiong Wang, Mengkai Hu, Haobin Shi, Shuge Zhang, Xuesi Li, and Wenyan Li · 2015
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Keyframe movement optimization for simulated humanoid robot using a parallel optimization framework
Francisco Muniz, Marcos ROA Maximo, and Carlos HC Ribeiro · 2016
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An adaptive LIPM-based dynamic walk using model parameter optimization on humanoid robots
Andreas Seekircher and Ubbo Visser · 2016
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A novel fuzzy omni-directional gait planning algorithm for biped robot
Haobin Shi, Xuesi Li, Weihao Liang, Huahui Chen, Shixiong Wang, et al · 2016
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Learning a humanoid kick with controlled distance
Abbas Abdolmaleki, David Simões, Nuno Lau, Luis Paulo Reis, and Gerhard Neumann · 2017
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Cooperative multi-agent control using deep reinforcement learning
Jayesh K Gupta, Maxim Egorov, and Mykel Kochenderfer · 2017
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A reliable model-based walking engine with push recovery capability
S Mohammadreza Kasaei, Nuno Lau, Artur Pereira, and Ehsan Shahri · 2017
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Multi-agent actor-critic for mixed cooperative-competitive environments
Deep reinforcement learning for humanoid robot dribbling
Alexandre FV Muzio, Marcos ROA Maximo, and Takashi Yoneyama · 2020
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Multi-agent actor centralized-critic with communication
David Simões, Nuno Lau, and Luís Paulo Reis · 2020
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TossingBot: learning to throw arbitrary objects with residual physics
Andy Zeng, Shuran Song, Johnny Lee, Alberto Rodriguez, and Thomas Funkhouser · 2020
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6D localization and kicking for humanoid robotic soccer
Miguel Abreu, Tiago Silva, Henrique Teixeira, Luís Paulo Reis, and Nuno Lau · 2021
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Learning humanoid robot running motions with symmetry incentive through proximal policy optimization
Luckeciano C Melo, Dicksiano C Melo, and Marcos ROA Maximo · 2021
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Performing the kick during walking for RoboCup 3D soccer simulation league using reinforcement learning algorithm
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Ryan Lowe, Yi I Wu, Aviv Tamar, Jean Harb, OpenAI Pieter Abbeel, and Igor Mordatch · 2017
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Learning to use toes in a humanoid robot
Klaus Dorer · 2018
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Overlapping layered learning
Patrick MacAlpine and Peter Stone · 2018
Cited alongside, same era.
Tom Silver, Kelsey Allen, Josh Tenenbaum, and Leslie Kaelbling · 2018
Cited alongside, same era.
Learning low level skills from scratch for humanoid robot soccer using deep reinforcement learning
Miguel Abreu, Nuno Lau, Armando Sousa, and Luis Paulo Reis · 2019
Cited alongside, same era.
Learning to run faster in a humanoid robot soccer environment through reinforcement learning
Miguel Abreu, Luis Paulo Reis, and Nuno Lau · 2019
Cited alongside, same era.
Amin Rezaeipanah, Parvin Amiri, and Shahram Jafari · 2021
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Deep reinforcement multi-directional kick-learning of a simulated robot with toes
Martin Spitznagel, David Weiler, and Klaus Dorer · 2021
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Gait optimization method for humanoid robots based on parallel comprehensive learning particle swarm optimizer algorithm
Chongben Tao, Jie Xue, Zufeng Zhang, Feng Cao, Chunguang Li, and Hanwen Gao · 2021
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Multi-agent reinforcement learning: a selective overview of theories and algorithms
Kaiqing Zhang, Zhuoran Yang, and Tamer Başar · 2021
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Adapting rapid motor adaptation for bipedal robots
Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, and Jitendra Malik · 2022
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From motor control to team play in simulated humanoid football
Siqi Liu, Guy Lever, Zhe Wang, Josh Merel, SM Ali Eslami, Daniel Hennes, Wojciech M Czarnecki, Yuval Tassa, Shayegan Omidshafiei, Abbas Abdolmaleki, et al · 2022
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Learning push recovery behaviors for humanoid walking using deep reinforcement learning
Dicksiano C Melo, Marcos ROA Maximo, and Adilson Marques da Cunha · 2022
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Deep reinforcement learning for humanoid robot behaviors
Alexandre FV Muzio, Marcos ROA Maximo, and Takashi Yoneyama · 2022
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Parallel deep reinforcement learning method for gait control of biped robot
Chongben Tao, Jie Xue, Zufeng Zhang, and Zhen Gao · 2022
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The surprising effectiveness of PPO in cooperative multi-agent games
Chao Yu, Akash Velu, Eugene Vinitsky, Jiaxuan Gao, Yu Wang, Alexandre Bayen, and Yi Wu · 2022
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Swarm cooperative navigation using centralized training and decentralized execution
Rana Azzam, Igor Boiko, and Yahya Zweiri · 2023
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Learning hybrid locomotion skills — learn to exploit residual actions and modulate model-based gait control
Mohammadreza Kasaei, Miguel Abreu, Nuno Lau, Artur Pereira, Luis Paulo Reis, and Zhibin Li · 2023
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Scaling multi-agent reinforcement learning to full 11 versus 11 simulated robotic football
Andries Smit, Herman A Engelbrecht, Willie Brink, and Arnu Pretorius · 2023
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Imitating and finetuning model predictive control for robust and symmetric quadrupedal locomotion
Donghoon Youm, Hyunyoung Jung, Hyeongjun Kim, Jemin Hwangbo, Hae-Won Park, and Sehoon Ha · 2023
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A survey of research on several problems in the RoboCup3D simulation environment
Zhongye Gao, Mengjun Yi, Ying Jin, Hanwen Zhang, Yun Hao, Ming Yin, Ziwen Cai, and Furao Shen · 2024
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Addressing imperfect symmetry: A novel symmetry-learning actor-critic extension
Miguel Abreu, Luís Paulo Reis, and Nuno Lau · 2025
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