Related papers: Using Monte Carlo Search With Data Aggregation to …
This paper presents the concepts of Artificial Intelligence, Multi-Agent-Systems, Coordination, Intelligent Robotics and Deep Reinforcement Learning. Emphasis is given on and how AI and DRL, may be efficiently used to create efficient robot…
In soccer, scoring goals is a fundamental objective which depends on many conditions and constraints. Considering the RoboCup soccer 2D-simulator, this paper presents a data mining-based decision system to identify the best time and…
Achieving coordinated teamwork among legged robots requires both fine-grained locomotion control and long-horizon strategic decision-making. Robot soccer offers a compelling testbed for this challenge, combining dynamic, competitive, and…
Much current research in AI and games is being devoted to Monte Carlo search (MCS) algorithms. While the quest for a single unified MCS algorithm that would perform well on all problems is of major interest for AI, practitioners often know…
Over the past few years, soccer-playing humanoid robots have advanced significantly. Elementary skills, such as bipedal walking, visual perception, and collision avoidance have matured enough to allow for dynamic and exciting games. When…
We apply multi-agent deep reinforcement learning (RL) to train end-to-end robot soccer policies with fully onboard computation and sensing via egocentric RGB vision. This setting reflects many challenges of real-world robotics, including…
We present a Monte-Carlo simulation algorithm for real-time policy improvement of an adaptive controller. In the Monte-Carlo simulation, the long-term expected reward of each possible action is statistically measured, using the initial…
Humanoid soccer poses a representative challenge for embodied intelligence, requiring robots to operate within a tightly coupled perception-action loop. However, existing systems typically rely on decoupled modules, resulting in delayed…
RoboCup represents an International testbed for advancing research in AI and robotics, focusing on a definite goal: developing a robot team that can win against the human world soccer champion team by the year 2050. To achieve this goal,…
Most reinforcement learning practitioners evaluate their policies with online Monte Carlo estimators for either hyperparameter tuning or testing different algorithmic design choices, where the policy is repeatedly executed in the…
Robot soccer, in its full complexity, poses an unsolved research challenge. Current solutions heavily rely on engineered heuristic strategies, which lack robustness and adaptability. Deep reinforcement learning has gained significant…
Humanoid robot soccer presents several challenges, particularly in maintaining system stability during aggressive kicking motions while achieving precise ball trajectory control. Current solutions, whether traditional position-based control…
This paper introduces SoccerDiffusion, a transformer-based diffusion model designed to learn end-to-end control policies for humanoid robot soccer directly from real-world gameplay recordings. Using data collected from RoboCup competitions,…
We consider the popular tree-based search strategy within the framework of reinforcement learning, the Monte Carlo Tree Search (MCTS), in the context of finite-horizon Markov decision process. We propose a dynamic sampling tree policy that…
Soccer is a sparse rewarding game: any smart or careless action in critical situations can change the result of the match. Therefore players, coaches, and scouts are all curious about the best action to be performed in critical situations,…
This work presents an application of Reinforcement Learning (RL) for the complete control of real soccer robots of the IEEE Very Small Size Soccer (VSSS), a traditional league in the Latin American Robotics Competition (LARC). In the VSSS…
Robots playing soccer often rely on hard-coded behaviors that struggle to generalize when the game environment change. In this paper, we propose a temporal logic based approach that allows robots' behaviors and goals to adapt to the…
We examine a type of modified Monte Carlo Tree Search (MCTS) for strategising in combinatorial games. The modifications are derived by analysing simplified strategies and simplified versions of the underlying game and then using the results…
RoboCup is an international scientific robot competition in which teams of multiple robots compete against each other. Its different leagues provide many sources of robotics data, that can be used for further analysis and application of…
The RoboCup 3D Soccer Simulation League serves as a competitive platform for showcasing innovation in autonomous humanoid robot agents through simulated soccer matches. Our team, FC Portugal, developed a new codebase from scratch in Python…