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In this paper, we present our localization method called CLAP, Clustering to Localize Across $n$ Possibilities, which helped us win the RoboCup 2024 adult-sized autonomous humanoid soccer competition. Competition rules limited our sensor…

Soccer analytics rely on two data sources: the player positions on the pitch and the sequences of events they perform. With around 2000 ball events per game, their precise and exhaustive annotation based on a monocular video stream remains…

Autonomous Cyber Operations (ACO) involves the development of blue team (defender) and red team (attacker) decision-making agents in adversarial scenarios. To support the application of machine learning algorithms to solve this problem, and…

Scientific competitions are crucial in the field of service robotics. They foster knowledge exchange and allow teams to test their research in unstandardized scenarios and compare result. Such is the case of RoboCup@Home. However, keeping…

Autonomous systems can substantially enhance a human's efficiency and effectiveness in complex environments. Machines, however, are often unable to observe the preferences of the humans that they serve. Despite the fact that the human's and…

This article describes the design and development of robotic prototypes for robotic soccer competitions using Dynamixel motors. Although the prototypes are not aimed at world-class competitions, they represent a significant step in the…

Deep reinforcement learning has shown its advantages in real-time decision-making based on the state of the agent. In this stage, we solved the task of using a real robot to manipulate the cube to a given trajectory. The task is broken down…

Accurate robot localization is essential for effective operation. Monte Carlo Localization (MCL) is commonly used with known maps but is computationally expensive due to landmark matching for each particle. Humanoid robots face additional…

The task of action spotting consists in both identifying actions and precisely localizing them in time with a single timestamp in long, untrimmed video streams. Automatically extracting those actions is crucial for many sports applications,…

This paper investigates the strategy game So Long Sucker (SLS) as a novel benchmark for multi-agent reinforcement learning (MARL). Unlike traditional board or video game testbeds, SLS is distinguished by its coalition formation, strategic…

In recent years, Reinforcement Learning (RL) has seen increasing popularity in research and popular culture. However, skepticism still surrounds the practicality of RL in modern video game development. In this paper, we demonstrate by…

We address the problem of enabling quadrupedal robots to perform precise shooting skills in the real world using reinforcement learning. Developing algorithms to enable a legged robot to shoot a soccer ball to a given target is a…

Distributed online optimization and game have been increasingly researched in the last decade, mostly motivated by its wide applications in sensor networks, robotics (e.g., distributed target tracking and formation control), smart grids,…

We present a reinforcement learning (RL) framework that enables quadrupedal robots to perform soccer goalkeeping tasks in the real world. Soccer goalkeeping using quadrupeds is a challenging problem, that combines highly dynamic locomotion…

This paper describes a new algorithm for decision making in two-player real-time video games. As with Monte Carlo Tree Search, the algorithm can be used without heuristics and has been developed for use in general video game AI. The…

Soccer video understanding has motivated the creation of datasets for tasks such as temporal action localization, spatiotemporal action detection (STAD), or multiobject tracking (MOT). The annotation of structured sequences of events (who…

Few multi-agent reinforcement learning (MARL) research on Google Research Football (GRF) focus on the 11v11 multi-agent full-game scenario and to the best of our knowledge, no open benchmark on this scenario has been released to the public.…

Intelligent behaviour in the physical world exhibits structure at multiple spatial and temporal scales. Although movements are ultimately executed at the level of instantaneous muscle tensions or joint torques, they must be selected to…

In recent years, researchers have achieved great success in applying Deep Reinforcement Learning (DRL) algorithms to Real-time Strategy (RTS) games, creating strong autonomous agents that could defeat professional players in StarCraft~II.…

Multiple robots could perceive a scene (e.g., detect objects) collaboratively better than individuals, although easily suffer from adversarial attacks when using deep learning. This could be addressed by the adversarial defense, but its…