# Pyrus Base: An Open Source Python Framework for the RoboCup 2D Soccer Simulation

arXiv: https://arxiv.org/abs/2307.16875 · HTML: https://mlsanity.com/paper/2307.16875/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 8 of its 33 references that are in the map.
- First posted on arXiv 22 Jul 2023.

## Builds on (most cited first, 8 of 8)

- [OpenAI Gym](https://mlsanity.com/paper/1606.01540/) (2016)
- [Google Research Football: A Novel Reinforcement Learning Environment](https://mlsanity.com/paper/1907.11180/) (2019)
- [From Motor Control to Team Play in Simulated Humanoid Football](https://mlsanity.com/paper/2105.12196/) (2021)
- [Gliders2d: Source Code Base for RoboCup 2D Soccer Simulation League](https://mlsanity.com/paper/1812.10202/) (2018)
- [Cyrus2D base: Source Code Base for RoboCup 2D Soccer Simulation League](https://mlsanity.com/paper/2211.08585/) (2022)
- [RoboCup 2D Soccer Simulation League: Evaluation Challenges](https://mlsanity.com/paper/1706.04315/) (2017)
- [Disruptive innovations in RoboCup 2D Soccer Simulation League: from Cyberoos'98 to Gliders2016](https://mlsanity.com/paper/1612.00947/) (2016)
- [Fractals2019: Combinatorial Optimisation with Dynamic Constraint Annealing](https://mlsanity.com/paper/1909.01788/) (2019)

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

- [Cross Language Soccer Framework: An Open Source Framework for the RoboCup 2D Soccer Simulation](https://mlsanity.com/paper/2406.05621/) (2024)
- [R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2606.18786/) (2026)

## Abstract (arXiv)

Soccer, also known as football in some parts of the world, involves two teams of eleven players whose objective is to score more goals than the opposing team. To simulate this game and attract scientists from all over the world to conduct research and participate in an annual computer-based soccer world cup, Soccer Simulation 2D (SS2D) was one of the leagues initiated in the RoboCup competition. In every SS2D game, two teams of 11 players and one coach connect to the RoboCup Soccer Simulation Server and compete against each other. Over the past few years, several C++ base codes have been employed to control agents' behavior and their communication with the server. Although C++ base codes have laid the foundation for the SS2D, developing them requires an advanced level of C++ programming. C++ language complexity is a limiting disadvantage of C++ base codes for all users, especially for beginners. To conquer the challenges of C++ base codes and provide a powerful baseline for developing machine learning concepts, we introduce Pyrus, the first Python base code for SS2D. Pyrus is developed to encourage researchers to efficiently develop their ideas and integrate machine learning algorithms into their teams. Pyrus base is open-source code, and it is publicly available under MIT License on GitHub