Call For Participation

RoboCup 2022
Humanoid Soccer Competition

July 11 – 17, 2022, Bangkok, Thailand

Important: This Call for Participation concerns the Humanoid Soccer Competition and the Humanoid Research Demonstration. A separate call may be published for the Humanoid Open Competition.


The RoboCup Humanoid League invites teams to apply for participation at the RoboCup 2022 Humanoid Soccer Competition and the Humanoid Research Demonstration in Bangkok, Thailand.

The Humanoid League will host competitions in the following categories:
* Humanoid Soccer Competition
  * KidSize: 40 – 100cm robot height (FIFA size 1 ball)
  * AdultSize: 130 – 200cm robot height (FIFA size 5 ball) 
* Humanoid Research Demonstration
In addition, we may organize a Humanoid Open Competition with a CfP following later this year.

For more detailed class definitions and more information about the humanoid league, please refer to the humanoid league home page at and join the humanoid league mailing list at:

Teams are also encouraged to form and apply as joint teams. Joint proposals will be judged on their combined merit. Teams must provide the following qualification material:

1) Humanoid Soccer Competition

You do not need to provide a full robot team to apply for competing in the Humanoid Soccer Competition. The qualifying round of Drop-In games will be played with only one robot per team. Teams that cannot provide a full team of robots (four robots in KidSize and two in AdultSize) will be grouped to form a playable team for the main tournament games. 

In case of a sufficient number of qualified teams, the sub-leagues (KidSize and/or AdultSize) will be divided into League A and League B. Teams are seeded into the leagues based on the results of an initial round of Drop-In games.

Each application to the Humanoid Soccer Competition will be reviewed by two members of the Technical Committee and two others teams applying to the Humanoid Soccer Competition. The combined reviewing score will decide whether a team qualifies for participation.

Reviewing other team’s material is mandatory for teams that want to participate in the Humanoid Soccer Competition. Failing to provide an adequate review by the provided deadline will have consequences for the teams own qualification status.

1.1) Robot Video

Teams need to provide a video of their robot demonstrating the robots’ autonomous soccer playing skills.

The recommended skills needed for qualification are:
* localization of unknown ball position,
* walking ability towards the ball,
* robot positioning at the ball for kicking,
* kicking the ball towards the goal,
* ability of getting up autonomously from a fall (KidSize only)

We encourage teams to include in the video more complex and intelligent behavior such as demonstrating localization, and robots playing in a game, recordings from actual soccer matches are admissible. If possible, please provide footage that demonstrates the robot behavior without wires attached.

The qualification video must be supplied as a link via youtube. The maximum duration of the video must not exceed 5 minutes. The qualifying team is responsible to ensure that the video adheres to YouTube’s TOS (especially in regards to music copyright) to prevent the video from being blocked for the reviewers. Teams that do not provide a qualification video or a viewable video will not be qualified!

1.2) Software Description

During the registration process, a form will be provided to submit details about the algorithms used or anticipated to be used for the participation in the 2022 competition. Algorithms shall be described in such detail that they can be reproduced by other teams. If software from other teams or standard algorithms are used, references need to be included. If the algorithm has been adapted to be used in the competition, those deviations need to be described in appropriate details.

The form will include questions in the following areas:
* Walking
* Vision
* Localization
* Team Communication
* Behavior
* Contributions to the RoboCup community, e.g. software releases, paper publications, provision of league infrastructure or data sets

Responses to the questions are expected to reflect the current or anticipated status of the software during the RoboCup 2022 competition. If the software has not changed or no changes are anticipated to be made until the competition, teams may copy & paste a response from previously submitted material.

1.3) Extended Abstract

A two-page extended abstract must be submitted. For teams which have previously participated in the Humanoid League, the extended abstract needs to:
* include lessons learned from the participation in previous RoboCup competitions
* highlight major problems that the team is trying to solve for the upcoming competition
* outline the plans for the major changes that the teams anticipate to have implemented by the RoboCup 2022 competition
* describe the implementation status of the changes planned by the time of submitting the application

For teams which have never participated in the RoboCup Humanoid League, the Extended Abstract needs to pitch the scientific aspects of their humanoid robotic system and highlight their research interests.

The Extended Abstract is limited to 2 pages maximum and must be submitted in PDF format. Extended Abstracts are designed to highlight the changes and scientific developments since the last RoboCup. Thus, we expect the usage of material from previous TDPs or Extended Abstracts to be minimal. If used, they need to be cited appropriately. Submissions of last year’s Extended Abstract will be desk-rejected.

The Extended Abstract must follow the LNCS format which can be downloaded from Teams that do to follow the LNCS formatting and style guidelines will not be qualified. No exceptions to this rule will be made.

1.4) Robot Specification

Regardless of the kid or adult size competition, a one-page specification (PDF) must be provided for each different type of humanoid robot used by the team that includes the following:
* Robot picture
* Robot name
* Height of the robot
* Weight of the robot
* Walking speed in cm/s
* Number of degrees of freedom and type of motors on each kinematic chain of the robot
* Type of sensors used (incl. type of camera(s) and specific manufacturer part number (e.g. “6-DoF IMU” is NOT an acceptable description)) 
* Computing unit(s)
* Other specs

1.5) Rules

This year’s rule discussion has not been completed yet. Therefore, no update has been made except for the change of the minimum size of Adult Size robots to 130cm.
All other hardware specifications will stay the same for RoboCup 2022 such that teams already know if their robot qualifies.
We will initiate the rule discussion with proposals from the discussion at RoboCup 2021 in the coming weeks.
The current version of the rules may be found here:
We expect the final version of the 2022 rules to be published in early spring 2022.

1.6) Registration

The following information is required for registration:
* Team name
* URL of the team’s home page
* Name of team leader or team contact person
* E-mail address of team leader or contact person
* Postal address of the team, team leader or contact person
* Competition category: Humanoid Soccer Competition KidSize or AdultSize

Please note that teams applying for participation in several categories must submit individual application material for each class, and pay the appropriate registration fee for each category. At least one team member must register on each team. Furthermore, teams in different categories must be able to compete, and guarantee to have members acting as referees available independently and at the same time.

1.7) Letter of Commitment

Regardless of the specific competition, a one-page letter addressed to the RoboCup Humanoid League Technical Committee including the following:
* a statement committing to participate in the RoboCup 2022 Humanoid League competition,
* a statement committing to make a person with sufficient knowledge of the rules available as referee during the competition.

The letter must be printed, hand signed by the team leader, digitally scanned and submitted either as a JPG, PNG or PDF file. If the letter does not contain a hand-written signature, it is not considered valid.

The TC may include the fulfillment of the statement of commitment of participation as well as the performance of the team’s referee in previous RoboCup competitions into consideration for qualification.

2. Humanoid Research Demonstration (HRD)

The RoboCup Humanoid League invites the research community to apply for showcasing the latest research and development results that are relevant for humanoid robots, during the virtual Humanoid League 2022. Researchers are invited to submit their demonstrations independently of whether they participate in the RoboCup competitions, symposium or have a RoboCup team. Contributions will be evaluated for scientific and technical excellence.

2.1. Topics of Interest

We welcome demonstrations containing new ideas, concepts, practical studies, and experiment demonstrations relevant to the field of Humanoid Robotics. This year, the special theme of the Humanoid Research Demonstration is sim2real learning and we particularly invite teams to showcase their research in this area. Other topics of interest include, but are not limited to:

* Components, joints and mechanics;
* Soft robotics;
* Anthropomorphic vs. non-anthropomorphic;
* Walking, running, jumping and other humanoid locomotion;
* Adaptability and scalability;
* Sensors and perception;
* Control and stability;
* Dealing with falling;
* Reflexes and learning;
* Energy supply and efficiency;
* Robot design and robotic kits;
* Virtual robots and simulation;
* Benchmarking;
* Bipedal robots applied to real problems;
* Education with and for humanoid robots.

2.2. Procedure

The Humanoid Research Demonstration will take place in one or several sessions and participating teams are asked to show a demonstration of the system live in Bangkok or stream their demonstration from their lab during the session. As a back-up solution, each team needs to provide a video demonstration prior to the beginning of the tournament. If the demonstration is performed in Bangkok, the Humanoid League will provide a humanoid league soccer playing field for the demonstration. However, the members of the Technical Committee of the Humanoid League understand that for some demonstrations this setup may not be ideal and will try to accommodate all teams. If a team requires other arrangements for the demonstration, it must submit a request to the Technical Committee at least 3 months before the competition to allow sufficient time for alternative arrangements.

2.3. Application

We invite teams to apply to participate in the Humanoid Research Demonstration by submitting the following material:

2.3.1. Demonstration Data

* Demonstration title;
* URL of the group’s home page;
* Name of the contact person;
* E-mail address of the contact person;
* Postal address of the contact person.

2.3.2. Demonstration Video
The first part of the material is a video of your robot or robotic part demonstrating its skills or a brief overview of the software demonstration if your demonstration does not involve a physical embodiment.

The video must be supplied as a link to it via YouTube. The maximum duration of the video is 3 minutes. The proponent is responsible to ensure that the video adheres to YouTube’s TOS (especially in regards to music copyright) to prevent the video from being blocked for the reviewers.

2.3.3. Hardware Specification
If the demonstration includes any type of hardware to be showcased, a one-page specification (PDF) for each different type of humanoid type robot/mechanism used that includes the following:
* Robot/mechanism picture;
* Robot/mechanism name;
* Size of the humanoid type robot/mechanism;
* Weight of the robot/mechanism;
* Robots/mechanisms joint specification;
* Type of sensors used (incl. type of camera(s));
* Computing unit(s);
* Other specifications

2.3.4.  Short paper
A short paper describing the robot, robot part of software and its task and required environment, limited to four (4) pages including text, references, tables, and figures.

The short paper must follow the LNCS format which can be downloaded from Please pay special attention to the “Author guidelines” that you’ll be able to find there.

3) Plagiarism

Plagiarism, loosely the unattributed use of other peoples’ words, code, and ideas is not tolerated in the RoboCup community. See the point “Publishing Ethics” at for a more detailed description. The teams and team members that plagiarize other peoples’ work, and present it as their own will be disqualified. For a first offense, the team and team members will be banned from RoboCup competition for two years (usually the current and next year). Harsher penalties will be applied to repeat offenders or extremely serious cases of plagiarism. A team may be disqualified at any time for plagiarism, even after the competition has started. RoboCup will not reimburse teams for any expenses related to their disqualification.

4) Online Submission

All qualification material must be submitted online at

5) Important Dates

Humanoid Soccer Competition 
* Submission system open: November 29th, 2021
* Submission deadline: December 12th, 2021
* Team Review Period: December 13th – December 27th
* Announcement of qualified teams: January 21st, 2022

Humanoid Research Demonstration
* Submission system open: November 29th, 2021
* Submission deadline: February 14th, 2022

6) Publication

Please note that after the announcement of the qualified teams the qualified teams submitted material will be made publicly available on the Humanoid League website. Teams applying for participation, therefore, implicitly grant the right of publication of their qualification material to the Humanoid League.

7) Visa Process

If you are a citizen of a country that needs a Visa for traveling to Thailand, please start the VISA process as soon as you receive your notification of qualification. If you are not sure if you’re eligible for a VISA-exempt, please consult the official website of the Thailand government for information.

With best regards,
Technical Committee of RoboCup Humanoid League 2021