Soccer Simulation League
Without the necessity to maintain any robot hardware, the RoboCup Simulation League's focus comprises artificial intelligence and team strategy.
2D Simulation League
In the 2D Simulation League, two teams of eleven autonomous software programs (called agents) each play soccer in a two-dimensional virtual soccer stadium represented by a central server, called SoccerServer. This server knows everything about the game, i.e. the current position of all players and the ball, the physics and so on. The game further relies on the communication between the server and each agent. On the one hand each player receives relative and noisy input of his virtual sensors (visual, acoustic and physical) and may on the other hand perform some basic commands (like dashing, turning or kicking) in order to influence its environment.
The big challenge in the Simulation League is to conclude from all possible world states (derived from the sensor input by calculating a sight on the world as absolute and noise-free as possible) to the best possible action to execute. As a game is divided into 6000 cycles this task has to be accomplished in time slot of 100 ms (the length of each cycle). Further information and the SoccerServer software can be accessed via http://sserver.wiki.sourceforge.net
3D Simulation League
The 3D simulation competition increases the realism of the simulated environment used in other simulation leagues by adding an extra dimension and more complex physics. At its beginning, the only available robot model was a spherical agent. In 2006, a simple model of the Fujitsu HOAP-2 robot was made available, being the first time that humanoid models were used in the simulation league. This shifted the aim of the 3D simulation competition from the design of strategic behaviors of in playing soccer towards the low level control of humanoid robots and the creation of basic behaviors like walking, kicking, turning and standing up, among others.
In 2008, the introduction of a Nao robot model to the simulation gave another perspective to the league. The real Nao robot from Aldebaran robotics has been the official robot for the Standard Platform League since 2008, and using the same model for the simulation competitions represents a great opportunity for researchers wanting to test their algorithms and ideas before trying them into the real robots. The interest in the 3D simulation competition is growing fast and research is slowly getting back to the design and implementation of multi-agent higher-level behaviors based on solid low level behavior architectures for realistic humanoid robot teams. Further information and the SimSpark server software can be accessed via http://simspark.sourceforge.net/wiki/index.php/Main_Page.
In consecutive years, the number of robots was increased continuouslly and reached 11 vs 11 in 2012. 2013 saw the first competition in which teams were able to use heterogenous robot types, i.e. variations of the standard Nao robot. Also a first drop in player challenge showed the performance of the teams when playing with unknown teammates of other teams. For 2014 the league has committed itself to run a first running robot challenge. The goal is to lead other leagues the way on which hardware is required to have robots that are able to run.
RoboCup Simulation Competitions
Calls for Participation (RoboCup 2016)
Call for Participation Soccer Simulation League 2D Simulation Competition, RoboCup 2016
June 28 - July 04, 2016 (Leipzig, Germany)
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 2016 Soccer Simulation League, 2D competition, which will take place June 28 - July 4 2016 in Leipzig, Germany. 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 logfiles showing the team game play quality.
Team Pre-Registration Deadline: January 31, 2016 (Sunday) - 23:59 UTC
Materials Submission Deadline: February 14, 2016 (Sunday) - 23:59 UTC
Qualification Notification: March 1, 2016 (Tuesday) - 23:59 UTC
In RoboCup 2016 up to 32 teams will be allowed to participate in the 2D Simulation competitions. Qualification is based on the quality of the TDP, and the team's current performance based on provided logfiles. 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 32 places in RoboCup 2016 only 8 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 2016, but is not able to participate, it has to cancel its participation ONE MONTH before the RoboCup-2016's final registration deadline for the TEAM (by an email to Sebastian Marian sebastian.marian at oxsy.ro, in order to give the next-ranked team the chance to take its place. If a team fails to observe this rule ('no-show'), the team and its members will be banned for RoboCup- 2017 competition.
The no-show penalty will apply next year (2016) to these three teams and individuals:
1. Team-Name: Expertinos Simulation
2. Country: Brazil
3. Affiliation: Federal University of Itajubá
4. Team-Leader: Guilherme Sousa Bastos
5. Team Members: Marcos Renato Coutinho Faleiro, Felipe Lira Santana Silva
1. Team-Name: 051
2. Country: Iran
3. Affiliation: 051 robotic Lab
4. Team-Leader: Mostafa Sayyahi
5. Team Members: Mostafa Sayyahi
1. Team-Name: Mars2014
2. Country: Iran
3. Affiliation: ArmanAfzarCompany
4. Team-Leader: Moahmmad Maziani
5. Team Members: Mehdi Torshani, Mohammad Kamkar, Mohammad Ghasemi, Mahdiye Ghasempour, Fakhteh Hossien Khani
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 four teams from last RoboCup (i.e., WrightEagle, Helios, Gliders, and Oxsy) are automatically qualified (after pre-registering their teams and submitting appropriate materials). The remaining teams will be selected through the qualification process.
All teams wishing to qualify need to pre-register before the deadline (31 January 2016). To pre-register, send an e-mail to sebastian.marian at oxsy.ro with the subject '2016 Pre-registration TeamName'. The email should contain the following information:
5. Team Members:
6. Contact e-mail:
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 (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 2016. 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.
All teams who wish to qualify need to send their qualification materials by the deadline (14 February 2016). To send the qualification materials, send an e-mail to sebastian.marian at oxsy.ro with the subject '2016 Qualification Materials TeamName'. The e-mail should contain the following information and files:
5. Team Members:
6. Contact E-Mail:
9. Team Description Paper ('TDP_TeamName.pdf')
10. Team Binary (and also source code depending on the base code license)
11. Links to logfiles (stored as a single file, 'Logfiles_TeamName.tar.gz')
In order to participate in qualification, a team has to send as attachments a Team Description paper, the team current binary as well as links to logfiles showing the team's game play quality. The deadline for submission is February 14th, 2016.
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').
In order to assess the team's performance and evaluate its scientific efforts in the context of game play, teams have to submit one logfile against one of the top teams of last year's RoboCup (http://chaosscripting.net/files/competitions/RoboCup/WorldCup/2015/2DS im/binaries/) and one logfile against the latest agent2d (http://sourceforge.jp/projects/rctools/downloads/55186/agent2d- 3.1.1.tar.gz/ 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.
Due to the size of logfiles, it is recommended to store your files online and send only the link(s).
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 1st 2016. Please note 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 8 teams from the same country. If 8 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 RoboCup despite 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.
Call for Participation RoboCup 2016 Soccer Simulation 3D League
June 28 - July 04, 2016 (Leipzig, Germany)
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 using 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 2016 Soccer Simulation League, 3D competition, which will take place June 28 - July 04, 2016, in Leipzig, Germany. If you are interested in participating, please pre-register your team and follow the procedure as outlined below. Important resources you need to participate are:
- the soccer simulation league's wiki
- the free simulation server:
Team Pre-Registration Deadline: January 31st (Sunday), 2016 (23:59 UTC)
Team Qualification Materials Submission Deadline: February 14th (Sunday), 2016 (23:59 UTC)
Qualified Teams Announcement: March 1st (Tuesday), 2016
Competition: June 28 - July 04, 2016
Waiver of the team fee for NEW Teams
The RoboCup Federation is pleased to continue with a waiver of the team fee for the 2016 International RoboCup competition for NEW teams in the major leagues. A NEW team is defined as a team with new name and all of whose team members have never participated in an annual international RoboCup competition. The waiver concerns only the team fee and does not imply any waiver of fees for team members.
All teams who wish to qualify need to pre-register before the deadline (see above). To pre-register, send an E-Mail to email@example.com with the subject '2016 3DSim Pre-registration TEAM_NAME'. The E-Mail should contain the following information:
6. Number of team members:
7. Apply for the Waiver of the team fee for NEW Teams ? (Yes/No)
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 in relevant areas in past years, cooperation in the 3D mailing list and development of the simulator. Also, up to six slots will be assigned in priority to new teams.
In RoboCup 2016, up to 24 teams will participate in the 3D simulation competition. The top three teams from RoboCup 2015 (UT Austin Villa, FUT-K, 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 February 14th, 2016. 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 must be at least four (4) pages and should not exceed twelve (12) pages in Springer LNCS Style: http://www.springer.com/computer/lncs?SGWID=0-164-7-72376-0. 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.
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 2015 competitions. These rules can be found at: http://wiki.robocup.org/wiki/Soccer_Simulation_League#RoboCup_2015_Information The simulation server is available at: http://simspark.sourceforge.net/wiki/index.php/Installation_on_Linux
Submitted binaries should adhere to the following:
· Two scripts should be included: a start up script, called start.sh, to run a full team of agents and a kill script, called kill.sh, 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. A Java runtime can be assumed to be available.
· 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 14.04. 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.
Please put all qualification material in a folder with your team name, create a tarball named teamname.tgz and E-Mail it to firstname.lastname@example.org with the subject: '2016 3DSim Qualification TEAM_NAME'. If everything works fine 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. The following general qualification limitations will also 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.
The Soccer Simulation League includes five committees: (1) Maintenance Committee (MC), (2) Technical Committee (TC), (3) Organizing Committee (OC), (4) Executive Committee (Exec), and (5) Trustees.
- Maintenance Committee (MC)
Soccer Simulation (as like as all other leagues in RoboCup) is not just a competition. The aim is to in one hand prepare a testbed for researchers to implement their ideas and test their methods in a simulated multi agent environment and on the other hand keep moving forward to have more realistic environment and join to other leagues to achieve the common goal of the RoboCup. So, every year we have developments in the league (by MC and help of teams). These developments shows if the league can be continued in RoboCup anymore or not (this will be decided by Federation). MC is the heart of the league. The MC maintains and extends the simulator(s) used in our league based on decisions of the Technical Committee (TC), but it also takes the initiative on implementing useful features that do not directly affect the soccer simulation itself. The work is entirely done by volunteers.
- Organizing Committee (OC)
OC is responsible for organizing of the league, this includes setting schedule, updating website of the league, performing qualification process, deciding about hardwares (with local organizers) and running games during competitions (organizing the league in RC'09). OC has a close collaboration with TC. OC members are selected by the Exec of the league and trustees.
- Technical Committee (TC)
TC is responsible for planning for the technical aspects of the league in short term to keep in the roadmap of the whole RoboCup in long temr. TC has close collaboration with both MC and OC, also it gets feedbacks from teams in the mailing lists. TC sets deadlines for the releasing the simulators in contact with MC and propose the MC the features and technical expects from the simulator for the next years. TC helps OC in setting rules and is responsible for evaluating 3D Development teams. TC members are selected based in an election by votes of team leaders. Usually there is one appointed member who is chosen by trustees and execs to be in TC.
- Executive Committee (EC)
Executive committee presents the league and its achievements to the Federation every year and get the feedbacks to organize the league. Exec members discuss about the long term and short term goals of the league and have contact with other leagues and federation to have better plan for the future of the league. Exec. members are members of TC as well. Exec members are elected by the trustee board of the federation and they serve 3-year terms.
The RoboCup board of trustees is responsible for the legal and high-level organizational aspects of the RoboCup federation. For example, the trustees enter into sponsorship agreements, deal with trademarks, decide on locations of RoboCup and enter into contracts with the local organizers, authorize use of the RoboCup name and logos, and authorize national committees and local events. The trustees also decide when to add or remove leagues and subleagues, appoint members of other committees, and manage the by-laws of the Federation. Most importantly, the trustees work hard to further the overall image and scientific goals of RoboCup and to keep the organization exciting and useful for all of the participants. The trustees serve 3-year terms. They are allowed to serve 2 consecutive terms after which they must spend at least one year off of the board. New trustees are elected by the national committees and by the current trustees. Current and past executive committee members are eligible.
Beside these committees, there are also consultants who are former member of the Exec and have great experiences from technical and organizing aspests of the whole league. The current Exec members turn to consultans for advice as needed. Consultants are entitles by trustees.
Organization Committee (RoboCup 2016)
- 2D Simulation League
- 3D Simulation League
Technical Committee (RoboCup 2016)
- 3D Simulation League
Executive Committee (RoboCup 2016)
- Tomomi Kawarabayashi, Fukui National College of Technology, Japan (2D)
- Mikhail Prokopenko, University of Sydney, Australia (2D)
- Nuno Lau, Universidade de Aveiro, Portugal (3D)
- Marco Simões, State University of Bahia, Brazil (3D)
2D Competititon Rules (2014) 
3D Competititon Rules (2016) 
2D Simulation League (2015)
|1||Gliders2015||University of Sydney and CSIRO||Australia|
|2||Expertinos Simulation||Federal University of Itajubá||Brazil|
|3||FCP_GPR_2015||UTFPR (Federal University of Technology - Parana - Brazil) / University of Porto / University of Minho / University of Aveiro||Brazil and Portugal|
|4||ITAndroids Soccer Simulation 2D||ITA, Instituto Tecnológico de Aeronáutica||Brazil|
|5||CSU_Yunlu||Central South University||China|
|6||GDUT-TiJi2015||Guangdong University of Technology||China|
|7||HfutEngine2015||Hefei University of Technology||China|
|8||Jaeger||Huainan Normal University||China|
|9||MT2015||Key Lab of Network and Intelligent Information Processing, Department of Computer Science and Technology, Hefei University||China|
|10||WrightEagle||University of Science and Technology of China||China|
|11||YuShan2015||Computer Science College of Anhui University of Technology||China|
|12||Rhoban Football Club||Université de Bordeaux||France|
|13||051||051 robotic Lab||Iran|
|14||CYRUS2015||Shiraz University of technology||Iran|
|16||Genius2015||Ghazal High School (Shiraz)||Iran|
|17||HERMES||Allameh Helli Highschool||Iran|
|18||Phonix||Atomic Energy High School||Iran|
|19||Ziziphus||Islamic Azad University of South Tehran||Iran|
|20||HELIOS2015||Fukuoka University, Osaka Prefecture University||Japan|
3D Simulation League (Qualified teams for RoboCup 2016)
|No.||Team Name||Team Leader||Affiliation||Country|
|1||BahiaRT||Marco Simões||State of Bahia University (UNEB)||Brazil|
|2||BehRobot||Ali Ahmadi||Islamic Azad University Of KhomeiniShahr||Iran|
|3||FC Portugal||Luis Paulo Reis||Universities of Aveiro, Minho and Porto||Portugal|
|4||FUT-K||Kosuke Onda||Fukui University of Technology||Japan|
|5||HfutEngine2016||Huang Yue||Hefei University of Technology||China|
|6||Invictus3D||Farzad Jafari||Shahid Beheshti University||Iran|
|7||ITAndroids 3D||Dicksiano Carvalho Melo||Instituto Tecnológico de Aeronáutica (ITA)||Brazil|
|8||KgpKubs||Akshay Gupta||Indian Institute of Technology Kharagpur||India|
|9||magmaOffenburg||Klaus Dorer||Hochschule Offenburg||Germany|
|10||Miracle3D||Fan Wang||Hefei Normal University||China|
|11||Nexus3D||Ali Asadolahzadeh||Ferdowsi University of Mashhad && Saramad||Iran|
|12||RoboCanes||Kyle Poore||University of Miami||USA|
|13||UT Austin Villa||Patrick MacAlpine||University of Texas at Austin||USA|
2D Simulation League
|Year||1st Place Team||2nd Place Team||3rd Place Team||Media|
|2001||TsinghuAeolus||Brainstormers||FC Portugal||Final1 Final2|
3D Simulation League
|Year||1st Place Team||2nd Place Team||3rd Place Team||Media|
|2015||UT Austin Villa||FUT-K||FC Portugal||Final 1 Final 2|
|2014||UT Austin Villa||RoboCanes||magmaOffenburg||Final 1 Final 2|
|2013||Apollo 3D||UT Austin Villa||FC Portugal||Final 1 Final 2|
|2012||UT Austin Villa||RoboCanes||BoldHearts||Final Highlights|
|2011||UT Austin Villa||CIT3D||Apollo3D||Final 1 Final 2|
|2010||Apollo3D||Nao Team Humboldt||HfutEngine||Final 1 Final 2|
|2009||SEU-RedSun||Boldhearts||LsuAmoyNQ||Final 1 Final 2|
|2008||SEU-RedSun||WrightEagle||Little Green Bats|
|2007||WrightEagle||Little Green BATS||SEU-3D||Final|
|2005||Aria2005Kavir||Brainstormers3D||Caspian, Iran & ZJUBase|