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RobocupGym: A challenging continuous control benchmark in Robocup

arXiv 2407.14516 ↗First posted 3 Jul 2024cs.RO cs.LGcited by 0

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Abstract (arXiv)

Reinforcement learning (RL) has progressed substantially over the past decade, with much of this progress being driven by benchmarks. Many benchmarks are focused on video or board games, and a large number of robotics benchmarks lack diversity and real-world applicability. In this paper, we aim to simplify the process of applying reinforcement learning in the 3D simulation league of Robocup, a robotic football competition. To this end, we introduce a Robocup-based RL environment based on the open source rcssserver3d soccer server, simple pre-defined tasks, and integration with a popular RL library, Stable Baselines 3. Our environment enables the creation of high-dimensional continuous control tasks within a robotics football simulation. In each task, an RL agent controls a simulated Nao robot, and can interact with the ball or other agents. We open-source our environment and training code at https://github.com/Michael-Beukman/RobocupGym.

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 19 of its 43 references that are in the map. First posted on arXiv 3 Jul 2024.

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References · 19

  1. 2017Proximal Policy Optimization Algorithmscited by 14,441
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  11. 2017Revisiting the Arcade Learning Environment: Evaluation Protocols and Open Problems for General Agentscited by 267
  12. 2020Transfer Learning in Deep Reinforcement Learning: A Surveycited by 259
7 more
  1. 2023Safety-Gymnasium: A Unified Safe Reinforcement Learning Benchmarkcited by 135
  2. 2024Craftax: A Lightning-Fast Benchmark for Open-Ended Reinforcement Learningcited by 80
  3. 2020An empirical investigation of the challenges of real-world reinforcement learningcited by 75
  4. 2023JaxMARL: Multi-Agent RL Environments and Algorithms in JAXcited by 59
  5. 2023XLand-MiniGrid: Scalable Meta-Reinforcement Learning Environments in JAXcited by 54
  6. 2024Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfercited by 35
  7. 2023Designing a skilled soccer team for RoboCup: exploring skill-set-primitives through reinforcement learningcited by 5

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