Soccer Simulation League/RoboCup2014

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Seeding Round

Group A

UT AustinVilla RoboCanes SEU MagmaOffenburg HfutEngine FUT-K Points Goals
UT AustinVilla - 2-0 2-0 2-0 6-0 9-0 15 21-0
RoboCanes 0-2 - 0-0 2-1 5-0 8-0 10 15-3
SEU 0-2 0-0 - 0-0 6-0 6-0 8 12-2
MagmaOffenburg 0-2 1-2 0-0 - 5-0 8-0 7 14-4
HfutEngine 0-6 0-5 0-6 0-5 - 0-0 1 0-22
FUT-K 0-9 0-8 0-6 0-8 0-0 - 1 0-31

Group B

FC Portugal BahiaRT KarachiKoalas ODENS L3M-SIM Mithras3D Points Goals
FC Portugal - 0-0 2-0 5-0 8-0 10-0 13 25-0 (group winner decided in extra matches)
BahiaRT 0-0 - 1-0 5-0 9-0 10-0 13 25-0
KarachiKoalas 0-2 0-1 - 4-0 4-0 6-0 9 14-3
ODENS 0-5 0-5 0-4 - 1-0 2-0 6 3-14
L3M-SIM 0-8 0-9 0-4 0-1 - 2-0 3 2-22
Mithras3D 0-10 0-10 0-6 0-2 0-2 - 0 0-30

Round 1

Group C

UT AustinVilla SEU Jolly BahiaRT HfutEngine3D ODENS Mithras3D Points Goals
UT AustinVilla - 0-0 3-0 5-0 7-0 - 10 15-0 (group winner decided in extra matches)
SEU Jolly 0-0 - 2-0 7-0 6-0 - 10 15-0
BahiaRT 0-3 0-2 - 6-0 6-0 - 6 12-5
HfutEngine3D 0-5 0-7 0-6 - 1-0 - 3 1-18
ODENS 0-6 0-6 0-6 0-1 - - 0 0-19
Mithras3D TP (technical problems) TP TP TP TP TP 0 -

Group D

FC Portugal RoboCanes MagmaOffenburg FUT-K KarachiKoalas L3M-SIM Points Goals
FC Portugal - 1-1 1-0 1-0 3-0 7-0 13 13-1
RoboCanes 1-1 - 2-0 0-0 3-0 7-0 11 13-1
MagmaOffenburg 0-1 0-2 - 1-0 1-0 10-0 9 12-3
FUT-K 0-1 0-0 0-1 - 0-0 6-0 5 6-2
KarachiKoalas 0-3 0-3 0-1 0-0 - 5-0 4 5-7
L3M-SIM 0-7 0-7 0-10 0-6 0-5 - 0 0-35

Round 2

Group E

UT AustinVilla RoboCanes BahiaRT FUT-K Points Goals
UT AustinVilla - 4-0 0-0 5-0 7 9-0
RoboCanes 0-4 - 1-0 0-0 4 1-4
BahiaRT 0-0 0-1 - 0-0 2 0-1
FUT-K 0-5 0-0 0-0 - 2 0-5

Group F

FC Portugal MagmaOffenburg SEU Jolly HfutEngine Points Goals
FC Portugal - 0-0 0-0 5-0 5 5-0
MagmaOffenburg 0-0 - 0-0 4-0 5 4-0 (2nd decided after extra match and penalties)
SEU Jolly 0-0 0-0 - 4-0 5 4-0
HfutEngine 0-5 0-4 0-4 - 0 0-13



UT AustinVilla - MagmaOffenburg 2:0
RoboCanes - FC Portugal 3D 3:0


MagmaOffenburg FC Portugal 3D 1:0


UT AustinVilla - RoboCanes 4:0

Free Challenges 2D/3D

Challenge Team Name Description
2D AUT-Parsian pdf
2D CYRUS2014 pdf
2D FCP_GPR pdf
2D WrightEagle pdf
3D Bahia RT pdf
3D FC Portugal 3D pdf
3D FUT-K pdf
3D L3M-SIM pdf
3D MagmaOffenburg pdf
3D Mithras3D pdf
3D SEU Jolly pdf
3D UT Austin Villa pdf


Rule Changes for 2014

Qualified Teams Simulation League 2014


Team Name Country(ies)
Apollo3D China
Bahia RT Brazil
Delta3D Iran
FC Portugal 3D Portugal
FUT-K Japan
Hfutengine3D China
Karachi Koalas Australia/Pakistan
KylinSky3D China
L3M-SIM France
MagmaOffenburg Germany
Miracle3D China
Mithras3D Iran
Nexus3D Iran
Paydar3D Iran
RoboCanes USA
Scorpius Iran
SEU Jolly China
UT Austin Villa USA


ID Team Name Country(ies)
1 051 Iran
2 Armik Iran
3 AUT Parsian Iran
4 Axiom Iran
5 CYRUS Iran
6 Enigma Iran
7 FCP_GPR_2014 Brazil and Portugal
8 Gliders2014 Australia
9 HELIOS2014 Japan
10 HERMES Iran
11 HfutEngine2014 China
12 Infographics India
13 ITAndroids Brazil
14 Nexus2D Iran
15 Oxsy Romania
16 PokTaPok Mexico
17 Ri-one Japan
18 Riton Iran
19 Soccereus Iran
20 Stealth Shooters India
21 tokA1 Japan
22 UFSJ2D Brazil
23 WrightEagle China
24 YuShan2014 China

14 teams from Brazil, China, Japan, India, Australia, Mexico, Romania and Portugal

10 teams from Iran (in order to reach the number of 24 qualified teams, the qualification board decided to include more than 6 teams from the same country this year)

Pre-registered Teams Simulation League 2014


Team Name Team Leader E-mail Country(ies) Affiliation(s) Number of Team Members
Karachi Koalas Mary-Anne Williams and Sajjad Haider, Australia / Pakistan University of Technology, Sydney and Institute of Business Administration, Karachi 7
EACHteam Valdinei Freire da Silva Brazil University of São Paulo 3
Bahia RT Marco Simões or Brazil Bahia State University 7
Hfutengine3D XiaoYu Li China Hefei University of Technology 3
Apollo3D Ping Shen China Nanjing University of Posts and Telecommunications 10
KylinSky3D Hong Jiang China Hohai University Wentian College / Hohai University 6
Miracle3D Lei Wang China Hefei Normal University 2
SEU_Jolly China Southeast University
L3M-SIM Nicolas JOUANDEAU France Paris8 University - Versailles Saint-Quentin University 3
magmaOffenburg Klaus Dorer Germany Hochschule Offenburg 4
Nexus3D Mahdi Alehdaghi Iran Ferdowsi University of Mashhad 4
Paydar3D Mohammad Razeghi Rostami Iran Sharif University Of Technology 4
Delta3D Mehdi Jamaseb or Iran Shiraz University 7
Mithras3D Armita Sabeti Ashraf Iran Farzanegan 1 High School 5
Scorpius Sadegh Mokari Iran AmirKabirUniversity of Technology (Tehran PolyTechnic) 7
FUT-K Masato Ishitaka Japan Fukui University of Technology 3
FC Portugal 3D Nuno Lau Portugal Universities of Aveiro, Porto and Minho 4
Turkbots Ferda Gül Aydın Turkey Istanbul University Robot Kulubü 3
RoboCanes Saminda Abeyruwan USA University of Miami 5
UT Austin Villa Patrick MacAlpine USA University of Texas at Austin 4
ODENS Yasuhiro MASUTANI Japan Osaka Electro-Communication University 3


Team Name Country(ies)
051 Iran
Armik Iran
AUT Parsian Iran
Axiom Iran
Enigma Iran
FC_Pars(CTU) Czech Republic
FCP_GPR_2014 Brazil and Portugal
S2D Brazil
Gliders2014 Australia
HELIOS2014 Japan
HfutEngine2014 China
Infographics India
ITAndroids Brazil
Mars 2014 Iran
Miracle China
Nexus2D Iran
Oxsy Romania
PokTaPok Mexico
RCMasters Iran
one Japan
Riton Iran
SBCEE_LegenDary2014 Iran
Soccereus Iran
Stealth Shooters India
tokA1 Japan
UFSJ2D Brazil
UT Austin Villa USA
Warthog Robotics Brazil
WrightEagle China
YuShan2014 China
Zero Iran
Ziziphus Iran

Calls for Soccer Simulation League 2014


RoboCup 2014 Soccer Simulation 3D League

July 20-24, 2014 (João Pessoa, Brazil)

The RoboCup Soccer Simulation 3D Competition provides a great opportunity to experiment with humanoid robots without the need for investing in robot hardware. It facilitates experimenting with different learning and optimization techniques by providing a simulated environment. Since the games are played with teams of 11 players, the league is also a very good environment for experimenting on multi-robot coordination methodologies.

We would like to invite you to participate in the RoboCup 2014 Soccer Simulation League, 3D competition, which will take place July 20-24, 2014, in João Pessoa, Brazil. If you are interested in participating, please pre-register your team and follow the procedure as outlined below.


Team Pre-Registration Deadline: January 31, 2014 (23:59 UTC)

Team Qualification Materials Submission Deadline: February 14, 2014 (23:59 UTC)

Qualified Teams Announcement: March 1, 2014


All teams who wish to qualify need to pre-register before the deadline (31 of January, 2014). To pre-register, send an E-Mail to (cc: with the subject '2014 3DSim Pre-registration TEAM_NAME'. The E-Mail should contain the following information:

1. Team-Name:

2. Team-Leader:

3. E-Mail:

4. Country/ies:

5. Affiliation(s):

6. Number of team members:

You should receive a confirmation E-Mail for your pre-registration within a few days of submission.


Qualification is based on a team's current performance, previous achievements in RoboCup, and scientific contributions to the RoboCup community in past years, cooperation in the 3D mailing list and development of the simulator.

In RoboCup 2014, up to 24 teams will participate in the 3D simulation competition. The top three teams from RoboCup 2013 (Apollo, UT Austin Villa and FC Portugal) are automatically qualified after pre-registering their teams and submitting an appropriate Team Description Paper (TDP). The other 21 teams will be selected through a qualification process.

The qualification deadline is 14 February 2014. The OC does not accept qualification materials from teams who have not been pre-registered by the pre-registration deadline. Qualification material consists of:

1. Team Description Paper (TDP) The TDP should describe your research focus and ideas implemented in the team. It should clearly describe your own work and your contributions in addition to explicitly specifying what you have used from others' efforts (including, but not limited to, any source code released by other teams or their scientific work). In qualification, teams must be judged based on their own work, so failing to acknowledge the work of others could result in an immediate disqualification. The length of the TDP has to be at least four (4) pages and should not exceed twelve (12) pages in Springer LNCS Style: Please submit the TDP only as a PDF document, with the name of your team in the filename, i.e. ‘teamname_TDP.pdf’.

2. A List of Publications and Achievements on previous RoboCup Symposia and in other relevant international journals and conferences. Please do not include TDPs that you submitted to RoboCup in previous years. Please also include your team's achievements in RoboCup and related events of previous years. If you are new to the RoboCup 3D community, you may also include references to relevant research done by your team that shows its potential. Please submit the contribution list as a PDF document, with the name of your team in the filename, i.e. ‘teamname_list.pdf.

3. Binary All teams should submit a working binary of their team. The OC will use these binaries to play 11 vs 11 matches, under the rules and with the simulator used during the 2013 competitions held in Eindhoven ( These rules can be found at:

Submitted binaries should adhere to the following:

   Two scripts should be included: a start up script, called, to run a full team of agents and a kill script, called, to fully kill all agents of the team. 
   The requirements and examples of these scripts can be found at the rules page given above.
   All necessary external libraries should be included and be used locally by the binary. The OC will not make an effort to install extra libraries on the qualification systems.
   The binaries should not create any output, be it through standard output or to files and no graphical (debugging) interface should be used.
   The binary should be compiled for 64 bit systems and should work on a modern GNU/Linux distribution, such as Ubuntu 12.10. You may also send 32 bit binaries, but it is your responsibility
   to make sure that it runs correctly on 64 bit distributions. You can assume that basic 32 bit libraries (e.g. libc) are installed on the 64 bit OS.

To summarize: the binary should run out of the box on a standard, clean, headless system in a restricted sand box environment with the simulation server (possibly) running on a different machine. The OC will not try to fix errors. When a binary fails to run, the respective team will be notified and will have to resubmit their material, before the deadline of 14 February, 2014.

Please put all qualification material in a folder with your team name, create a tarball name teamname.tgz and E-Mail it to (cc: with the subject: '2014 3DSim Qualification TEAM_NAME'. If everything went well you will receive a confirmation. If you did not receive any confirmation within two (2) days, please contact the Organizing Committee.

If you encounter any problem sending your qualification materials please don't hesitate to contact the OC.

Teams will be qualified based on the submitted materials as described in this E-Mail. Also, the following general qualification limitations will be considered:

   One-Third-Rule: The so called One-Third-Rule rule states that only up to 1/3 of the participants of a competition may be from the same country.
   One-Team-Per-Institute-Rule: The One-Team-Per-Institute-Rule states that only one team from each university or research institute is allowed to participate in a competition. 
   Note that it is okay for different teams from the same institute to participate in different competitions, e.g. 2D and 3D soccer.


Call for Participation

Soccer Simulation League - 2D Simulation Competition, RoboCup 2014

July 20-24, 2014 (Joao Pessoa, Brazil)


The RoboCup 2D Simulated Soccer League is the oldest of the RoboCup Soccer Simulation Leagues. It is based on the RoboCup Soccer Simulator that enables two teams of 11 simulated autonomous robots plus an autonomous coach agent to play a game of soccer with very realistic rules and game play. Due to its stability the RoboCup Soccer Simulator is a very good research and educational tool for multi-agent systems, artificial intelligence and machine learning. We would like to invite you to participate in the RoboCup 2014 Soccer Simulation League, 2D competition, which will take place Jun 20-24, 2014, in Joao Pessoa, Brazil. To pre-register all teams have to provide a Team Description Paper and in case they are based on another team under a license they have to publish the agent source code. The teams will also have to provide a binary file and annotated logfiles showing the team game play quality.


Team Pre-Registration Deadline: January 31, 2014(Friday) - 23:59 UTC

Materials Submission Deadline: February 14, 2014(Friday) - 23:59 UTC

Qualification Notification: March 3, 2014(Monday) - 23:59 UTC


In RoboCup 2014 up to 24 teams will be allowed to participate in the 2D Simulation competitions. Qualification is based on the quality of the TDP, the team's current performance based annotated logfiles sent. Previous achievements in RoboCup and scientific contributions to the RoboCup community in past years are also relevant for qualification. There are several general rules on which the qualification processes as well as the tournaments are based:

  1. One-Fourth-Rule: Only one fourth of the participating teams may be from the same country. With 24 places in RoboCup 2014 only 6 teams per country are allowed. If a team is situated in more than one country, the bound location counts. Teams infringing this rule will be ignored in the ordered list of qualified teams. False statement results in penalty. See Appendix A.1 for further explanations.
  2. One-Team-Per-Research-Institution: Each university or research institute may only qualify one team. If a team is affiliated with more than one institution, the unbound affiliation counts. Teams infringing this rule will be ignored in the ordered list of qualified teams. False statement results in penalty.
  3. Plagiarism-Penalty: If a team commits plagiarism, the team and its members will be banned from participation for this and next year's RoboCup. The term plagiarism comprises any use of external knowledge without proper referencing, i.e. copying or using the thoughts, ideas, texts or language in general and presenting them as their own. This applies for Team Description Papers as well as logfiles, team code and binaries. All kinds of licenses and copyright have to be respected. This applies for the qualification process as well as the RoboCup tournaments. Please be aware that when a team is found guilty of committing plagiarism it is disqualified and banned at any time. This may also be in the middle of the tournament.
  4. No-Show-Penalty: If a team qualifies for RoboCup 2014, but is not able to participate, it has to cancel its participation before the deadline in order to give the next-ranked team the chance to take its place. If there are reasons for delays in registration the team has to let OC know so that a reaction in time is possible. If a team fails to observe this rule ('no-show'), the team and its members will be banned for next RoboCup competitions.
  5. Academic-Fairness-Rule: If any team breaches general academic fairness in any other way, it has to face penalties as well.
  6. Automatic-Qualification-Rules: The top three teams from last RoboCup (i.e. WrightEagle, Helios and YuShan), and the OC (i.e. Joao Alberto Fabro and Tomoharu Nakashima) team(s) (if any) are automatically qualified (after pre-registering their teams and submitting appropriate materials). The remaining teams will be selected through the qualification process.


All teams who wish to qualify need to pre-register before the deadline (31 January 2014). To pre-register, send an E-Mail to joaofabro at with the subject '2014 Pre-registration TeamName'. The E-Mail should contain the following information:

  1. Team-Name:
  2. Country:
  3. Affiliation:
  4. Team-Leader:
  5. Team Members:
  6. Contact E-Mail:
  7. Base-Team:
  8. Dependencies:

You should receive a confirmation e-mail for your pre-registration. Affiliation is the team's organization, institute or university. Dependencies should include all dependencies of your team binaries from the standard repositories (we will set these up before hands, so every team binary should be executable at the tournament). Under Base-Team each team using another team as base for their agents, has to specify this team. Please note that you have to provide correct and full information and giving false or incomplete statement will be penalized with banning of the team and its members. Please be aware that with respect to gentlemanly play, we will NOT allow any team name changes from the pre-registration to the competition in RoboCup 2014. If a team has based its agent on external code or libraries published under certain licenses or copyright, it has to observe the according rules. In most cases this will be the GNU General Public License, i.e. a proper disclaimer has to be included in Team Description Paper and source code and the source code has to be submitted as well. After official RoboCup competitions the binaries will be published, i.e. the rules of the corresponding license have to be respected as well. For GPL this also implies publishing the code.

Qualification Materials

All teams who wish to qualify need to send their qualification materials by the deadline (14 February 2014). To send the qualification materials, send an E-Mail to joaofabro at with the subject '2014 Qualification Materials TeamName'. The E-Mail should contain the following information and files:

  1. Team-Name:
  2. Country:
  3. Affiliation:
  4. Team-Leader:
  5. Team Members:
  6. Contact E-Mail:
  7. Base-Team:
  8. Dependencies:
 Attachment Files:
  1. Team Description Paper ('TDP_TeamName.pdf')
  2. Team Binary (and also source code depending on the base code license)
  3. Logfiles (compressed in a single file ('Logfiles_TeamName.tar.gz')
  4. Appendix ('Appendix_TeamName.pdf')

In order to participate in qualification, a team has to send as attachments a Team Description paper, the team current binary as well as logfiles showing the team's game play quality and a separate appendix to the TDP describing the logfiles. The deadline for submission is February 14th, 2014.

Team Description Paper

Each team has to submit a team description paper (in English) describing the focus and ideas as well as recent advancements implemented in the team. This paper must have a length of 4 to 6 pages in Springer LNCS style and has to be submitted as PDF (to be named 'TDP_TeamName.pdf'). Please note: A team can only be qualified if the quality of its TDP is appropriate! The Team Description Paper (TDP) should comprise, among other things: the scientific focus of the team; team's current efforts; progress since last TDP/competition; team base code and description how the team is different from the base code; originality of the team's approach; results (team results or ideally results achieved using the team's main scientific contribution(s)); related work (at least 5 and ideally more than 10 references comparing the work with related work developed by other teams). Please be aware that the TDP has to describe the team's very own scientific efforts and explicitly illustrate whether a team has used external knowledge (ideas, code, agent base or the like) to build upon. If a team did use knowledge not evolved by this team, the own achievements have to be outlined in contrast to this. This also applies if one or more team members have switched from another team or a new team is created on the base of another even though the involved persons have not changed. If external knowledge is used but not referenced, explained and differentiated from in the TDP, the team and its members will be penalized with banning for this and next year's RoboCup.

Team Binary/Source Code

Teams should send an attachment with a working binary. Depending on the base code license teams should also provide the team's complete source code. Team binary or source code should be compressed in a single file named ('Binary_TeamName.tar.gz' or 'Source_TeamName.tar.gz').

Logfiles and Appendix

In order to assess the team's performance and evaluate its scientific efforts in the context of game play, teams have to submit 8 logfiles against one or more teams of last year's RoboCup ( and 2 logfiles against the latest agent2d ( or later). Logfiles comprise both rcg and rcl in version 5 (server::game_log_version = 5) generated with compression (server::game_log_compression = 1 and server::text_log_compression = 1) on using the most recent version of the Soccer Server. These logfiles have to prove that the team is competitive enough to participate and demonstrate the team's characteristics. It is expected that specific scenes from these logfiles are referenced from within a separate appendix (to be named 'Appendix_TeamName.pdf', consisting of entries in the following form: <file-name> <start time in cycles> <duration in cycles> <description of the scene>; additional graphics are allowed) accompanying the TDP, linking research with implementation and game play. Due to the size of logfiles, it is recommended to store your files online and send only the link(s).

Qualification Results

The TDPs and logfiles of all teams will be peer reviewed by experts in 2D RoboCup Simulation League nominated by the OC. The reviewers will evaluate the qualification materials and rank the teams. The ranks will be averaged into a global ranking and the top teams on that ranking will be qualified for the RoboCup 2D simulation competition. Qualification results will be announced on March 3rd 2014. Please notice that the submitted materials of all qualified teams will be made publicly available during the announcement of qualification results.


A.1 Explanations to General Rule 1 "If a team is situated in more than one country, the bound location counts." General rule 1 defines an upper bound of 6 teams from the same country. If 6 qualified teams already originate from country A and there is a team XY originating from country A as well as country B, team XY is not allowed to participate in RoboCupdespite the fact that the quota for country B may not be reached. A.2 Explanations to General Rule 2 "If a team is affiliated with more than one institution, the unbound affiliation counts." General rule 2 defines that only one team per institute may participate in RoboCup. However, if a team XY is affiliated with institution A as well as institution B and there is already a team affiliated with A, the team XY may participate.