Virtual Humanoid Soccer Competition

Virtual Humanoid Soccer Competition 

This website will give an overview of the technical details for the Virtual Humanoid Soccer competition. 

Note: This site will be updated frequently to always reflect the current state of the organization. 

Simulator

The open-source simulator Webots is used for the Virtual Humanoid Soccer competition. The Technical Committee will provide:

  • the game environment, including a model of the artificial grass and stadium surroundings
  • an automatic refereeing system enforcing the laws of the game which communicates with the GameController software 

Teams need to provide a robot model to compete with, as well as the robot control software. 

Laws of the Game

The laws of the game have been adapted from the Humanoid Soccer Competition Laws of the Game 2020. The current draft of the rules can be found here: https://humanoid.robocup.org/materials/rules/ 

The changes marked are in comparison to the 2020 version of the Humanoid Soccer Competition Laws of the Game.

Comments on and suggestions for the final rule book can be made in the Humanoid League Forum until March 1st. 

The second version of the Laws of the Game will be published on March 12th. The final rule book is planned to be released on April 2nd.

Game Environment

The official game environment will be published here on March 22nd, 2021 (tentative date). 

To get started, teams may use the unofficial version of the Humanoid League KidSize field provided by team Hamburg Bit-Bots which can be found here.

Note: The final game environment provided by the league may differ significantly from this unofficial version and the Technical Committee is not responsible for any mistakes included in the unofficial version.

AutoRef

The Humanoid League will provide an automatic refereeing system to enforce the laws of the game. The decisions made by the AutoRef software are final, even if they may, at times, be faulty. After the simulation was conducted and the resulting video streamed, teams have half an hour to virtually sign the game result or complain about the result to the Technical Committee. Complaints need to be based on serious violations of fair behavior repeatedly performed by the opponent team during the game. In case of a complaint, the Technical Committee will review the game and either decide that the game result is valid, or that the game needs to be replayed. In the latter case, the team showing unsportive behavior receives a yellow card and needs to change their software to prevent the unsportive behavior seen in the game.

The AutoRef software will be published here on April 26th (tentative date). 

Robot Model & Control Software

A sample robot model will be provided by the Technical Committee on March 22nd (tentative date). Teams are expected to provide their own robot models to compete with. However, they may choose to play with the robot of another team or the sample robot model.

Robot Model

Detailed requirements for the robot models are currently under discussion and will be published here on March 12th.

To ensure that the robot models created by the individual teams do not violate the requirements set by the Technical Committee, all robot models need to be submitted ahead of time. The submission process consists of two steps:

  1. An initial model needs to be submitted via the only submission system by April 23rd. All teams submitting a robot model will then be assigned to two other teams to peer-review the robot model provided by the other team. Teams have until May 3rd to provide the result of the peer-review process via the submission system.
  2. Teams receive feedback on the robot model both from the two teams peer-reviewing their model as well as from the Technical Committee on May 7th. They are then given time to implement the feedback and change the model until May 23rd. The second version of the robot model will be checked by the Technical Committee to ensure all requirements are met. 

In case teams wish to make updates to the robot model after May 23rd, they need to submit a written request to the Technical Committee, including the new version of the robot model as well as a statement including (a) what changes were made to the robot model and (b) why these changes were made. Changes requested less than 12 hours prior to the next scheduled game are not guaranteed to be reviewed by the Technical Committee in time.  

Robot Control Software

Teams need to submit the latest version of the robot control software latest two hours prior to their next scheduled games. Details on how the robot software shall be submitted during the tournament will be provided closer to the tournament.

Competition

The competition will be set up to resemble the Humanoid Soccer Competition as closely as possible. This includes a virtual space provided to teams to collaboratively work together and meet other teams as well as streaming of the virtual games. To keep the tournament interesting and exciting, teams do only receive access to the log files after the games have been streamed. 

Setup

Each robot runs on its own virtual instance. Instances will have an Intel Cascade Lake with 4 vCPU and a Nvidia Tesla T4 GPU or a setup similar in performance. The exact setup including the specific instances and cloud-infrastructure used will be published closer to the tournament.

Robot instances may only communicate with each other over the network. Network communication is limited to 1 Mbit/s per team and this rule will be strictly enforced. Robots will receive all necessary information about the game state via the GameController. 

Mock-Competition

To allow teams to test their simulation software under realistic conditions, the Technical Committee will host a mock-competition from June 4th to June 6th 2021. Teams signed-up for the mock-competition will receive the possibility to upload their software and play simulated games either against other teams or their own robots. Teams will receive several time slots for practice during the weekend. The exact number of slots will depend on the number of teams signing up to participate.