# Learning to Play Soccer by Reinforcement and Applying Sim-to-Real to Compete in the Real World

arXiv: https://arxiv.org/abs/2003.11102 · HTML: https://mlsanity.com/paper/2003.11102/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Mar 2020.

## Built on by (most cited first, 2 of 2)

- [Transferring Multi-Agent Reinforcement Learning Policies for Autonomous Driving using Sim-to-Real](https://mlsanity.com/paper/2203.11653/) (2022)
- [Deep Learning for Embodied Vision Navigation: A Survey](https://mlsanity.com/paper/2108.04097/) (2021)

## Abstract (arXiv)

This work presents an application of Reinforcement Learning (RL) for the complete control of real soccer robots of the IEEE Very Small Size Soccer (VSSS), a traditional league in the Latin American Robotics Competition (LARC). In the VSSS league, two teams of three small robots play against each other. We propose a simulated environment in which continuous or discrete control policies can be trained, and a Sim-to-Real method to allow using the obtained policies to control a robot in the real world. The results show that the learned policies display a broad repertoire of behaviors that are difficult to specify by hand. This approach, called VSSS-RL, was able to beat the human-designed policy for the striker of the team ranked 3rd place in the 2018 LARC, in 1-vs-1 matches.