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2013 2012 2011 2010 2008 2007
This is the official site of
the UT
Austin Villa 3D Simulation team from
the Department of Computer
Science at the University of
Texas at Austin.
In the RoboCup 3D Simulation League autonomous (controlled only by
their own
software) robots compete against each
other in a physically realistic simulated game of soccer.
Information about robot soccer can be found at the following
locations: RobCup 3D
Simulation League and
Simulation
Leagues.
Checkout the UT Austin
Villa team homepage for information about other RoboCup leagues
we compete in including
the Standard
Platform League (physical robots).
RoboCup 3D Simulation
-
Achievements
RoboCup World Champions: 2011, 2012, 2014, 2015,
2016, 2017, 2018, 2019, 2021
Offenburg Tournament Champion: 2020
RoboCup Asia Pacific Champion: 2018
IranOpen Champion: 2012, 2013, 2014, 2015, 2016, 2017, 2018
RoboCup Second Place: 2013
RoboCup Wales Semifinalist: 2010
IranOpen Quarterfinalist: 2010
RoboCup Technical Challenge First Place: 2014, 2015, 2016, 2017, 2019
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Team Members
Professor
Peter Stone
Postdocs
Patrick MacAlpine
Graduate Students
Bo Liu
William Macke
Caroline Wang
-
Alumni
Yifeng Zhu - Graduate
Student (2020)
Faraz Torabi -
Graduate Student (2018-2019)
Brahma Pavse - Undergraduate Student (2018-2019)
John Sigmon - Undergraduate Student (2018)
Min Bi - Undergraduate Student (2016)
Mahmut Tarik Ozkaya - Undergraduate Student (2016)
Jordan Torres - Undergraduate Student (2016)
Matt Union - Undergraduate Student (2016)
Xinyi Wang - Undergraduate Student (2016)
Josiah Hanna -
Graduate Student (2015)
Jason Liang -
Graduate Student (2014-2015)
Samuel Barrett -
Graduate Student (2011-2014)
Mike Depinet - Undergraduate Student (2013-2014)
Andrew Sharp - Undergraduate Student (2013)
Nick Collins - Undergraduate Student (2011-2012)
Adrian Lopez-Mobilia - Undergraduate Student (2011-2012)
Michael Quinlan -
Research Scientist (2011)
Shivaram
Kalyanakrishnan - Graduate Student (2007-2011)
Daniel Urieli -
Graduate Student (2010-2011)
Frank Barrera - Undergraduate Student (2011)
Art Richards - Undergraduate Student (2011)
Nicu Stiurca - Undergraduate Student (2011)
Victor Vu - Undergraduate Student (2011)
Yinon Bentor - Graduate
Student (2009-2010)
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Code
UT Austin Villa
RoboCup 3D simulation team base code release
-
Binaries
The following are links to the team's released binaries from RoboCup
competitions:
RoboCup
2021
RoboCup
2019
RoboCup
2018
RoboCup
2017
RoboCup
2016
RoboCup
2015
RoboCup
2014
RoboCup
2013
RoboCup
2012
RoboCup
2011
RoboCup
2010
RoboCup 2008
RoboCup 2007
-
Courses
The following are courses that incorporate the RoboCup 3D simulation environment
and team codebase:
CS 344M: Autonomous Multiagent Systems (Fall, 2015)
CS 344M: Autonomous Multiagent Systems (Fall, 2012)
CS 344M: Autonomous Multiagent Systems (Fall, 2010)
-
Publications
Publications can be found on
the publications page.
-
2021 Competitions
RoboCup 2021
UT Austin Villa won
the RoboCup 2021
competition
held virtually in June 2021.
The team won all 19 games it played and scored a total of 108
goals while only conceding 5.
The results for each game the team played can be found on
the
RoboCup 2021 competition results page.
RoboCup 2021 Final Match.
During the competition the team also took second place in the Fat
Proxy Challenge and took second place in the Scientific Challenge
(entry).
Fat Proxy Challenge Match.
Binary
Binary
and Start/Kill Scripts
-
2020 Competitions
Offenburg Tourament
UT Austin Villa won
the Offenburg Tournament
held in Offenburg, Germany in September 2020.
The team finished the competition with a record of 11 wins and 1
tie, and scored a total of 56 goals without conceding any.
The results for each game the team played can be found on
the
Offenburg Tournament 2020 competition results page.
Offenburg Tournament Final Match.
-
2019 Competitions
RoboCup 2019
UT Austin Villa won
the RoboCup 2019
competition
held in Sydney, Australia in June 2019.
The team finished with a record of 21 wins, 1 tie, and 1 loss and
scored a total of 112 goals while conceding only 5.
The results for each game the team played can be found on
the
RoboCup 2019 competition results page.
During the
competition the team also won the
Fewest Self-Collisions Challenge (with only one during the entire competition) and took second place in the Free Challenge
(entry).
RoboCup 2019 Final Match.
Publications
UT
Austin Villa: RoboCup 2019 3D Simulation League Competition and
Technical Challenge Champions.
Patrick MacAlpine, Faraz Torabi, Brahma Pavse, Peter
Stone.
In RoboCup 2019: Robot World Cup XXIII, Lecture Notes in
Artificial Intelligence, Springer, 2019.
Binary
Binary
and Start/Kill Scripts
-
2018 Competitions
RoboCup 2018
UT Austin Villa won
the RoboCup 2018 competition
held in Montreal, Canada in June 2018.
The team won all 23 games it played and scored a total of 143 goals
while conceding none. The results for each game the team played can be
found on
the
RoboCup 2018 competition results page. During the competition the team also won the
Goalie Challenge and took third place in the Free Challenge
(entry,
slides).
RoboCup 2018 Final Match.
Download videos: First Half
(mp4),
Second Half
(mp4)
IranOpen 2018
UT Austin Villa won
the RoboCup IranOpen 2018
competition
held in Tehran, Iran in April 2018.
The team won all 9 games it played and scored a total of 64 goals without conceding any. The results for each game played can be
found on
the
RoboCup IranOpen 2018 3D Simulation League page. During the
competition
the team also competed in the penalty kick challenge and had both the
best scorer (most goals scored) and best goalie (fewest goals
conceded).
RoboCup IranOpen 2018 Final Match.
Download videos: First Half
(mp4),
Second Half
(mp4)
Publications
UT
Austin Villa: RoboCup 2018 3D Simulation League Champions.
Patrick MacAlpine, Faraz Torabi, Brahma Pavse, John Sigmon, Peter
Stone.
In RoboCup 2018: Robot Soccer World Cup XXII, Lecture Notes in
Artificial Intelligence, Springer, 2019.
Binary
Binary
and Start/Kill Scripts
-
2017 Competitions
RoboCup 2017
UT Austin Villa won
the RoboCup 2017 competition
held in Nagoya, Japan in July 2017.
The team won all 23 games it played and scored a total of 171
goals
while conceding none. The results for each game played can be
found on
the
RoboCup 2017 game results page.
Action from RoboCup 2017.
Download videos: Highlights (mp4),
Final First Half
(mp4),
Final Second Half
(mp4)
UT Austin Villa also won the overall Technical Challenge taking 1st place in
all challenges: Free Challenge
(entry,
slides), Gazebo Running Challenge, and Passing and Scoring Challenge.
RoboCup 2017 Challenges.
Download videos: Passing and Scoring Challenge
(mp4),
Gazebo Running Challenge
(mp4)
IranOpen 2017
UT Austin Villa won
the RoboCup IranOpen 2017
competition
held in Tehran, Iran in April 2017.
The team won all 10 games it played and scored a total of 62 goals without conceding any. The results for each game played can be
found on
the
RoboCup IranOpen 2017 3D Simulation League page. During the
competition
the team also competed in and took first place in both challenges that
were held:
the team won the
run challenge and tied for first place in the goalie challenge. Additionally the team
created
a team
presentation for the competition.
RoboCup IranOpen 2017 Final Match.
Download videos: First Half
(mp4),
Second Half
(mp4)
Publications
UT
Austin Villa: RoboCup 2017 3D Simulation League Competition and
Technical Challenges Champions.
Patrick MacAlpine and Peter
Stone.
In RoboCup 2017: Robot Soccer World Cup XXI, Lecture Notes in
Artificial Intelligence, Springer, 2018.
Overlapping Layered Learning.
Patrick MacAlpine and Peter
Stone.
Artificial Intelligence (AIJ), 254:21-43, Elsevier,
January 2018.
Multilayered
Skill Learning and Movement Coordination for Autonomous Robotic
Agents.
Patrick MacAlpine.
Ph.D. Thesis, The University of Texas at Austin, Austin, Texas, USA,
August 2017.
Evaluating
Ad Hoc Teamwork Performance in Drop-In Player Challenges.
Patrick MacAlpine and Peter
Stone.
In Autonomous Agents and Multiagent Systems, AAMAS 2017 Workshops,
Best Papers, Lecture
Notes in Artificial Intelligence, pp. 168–186, Springer
International Publishing, 2017.
Binary
Binary
and Start/Kill Scripts
-
2016 Competitions
RoboCup 2016
UT Austin Villa won
the RoboCup 2016 competition
held in Leipzig, Germany in July 2016.
The team won all 14 games it played and scored a total of 88
goals
while only conceding 1. The results for each game played can be
found on
the
RoboCup 2016 game results page.
Action from RoboCup 2016.
Download videos: Highlights (mp4),
Final First Half
(mp4),
Final Second Half
(mp4)
UT Austin Villa also won the overall Technical Challenge taking 1st place in
all challenges: Free Challenge where we presented our marking system
using prioritized role assignment
(entry,
slides), Gazebo Running Challenge, and Keepaway
Challenge. Additionally the team was awarded second place for the
HARTING Open
Source Prize (entry) for
our code
release.
RoboCup 2016 Challenges.
Download videos: Gazebo Running Challenge
(mp4),
Keepaway Challenge
(mp4)
IranOpen 2016
UT Austin Villa won
the RoboCup IranOpen 2016
competition
held in Tehran, Iran in April 2016.
The team won all 10 games it played and scored a total of 54 goals without conceding any. The results for each game played can be
found on
the
RoboCup IranOpen 2016 3D Simulation League page. During the
competition
the team also competed in and won all the challenges which included the
run challenge, goalie challenge, and pass challenge. Additionally the team
created
a team
presentation for the competition.
RoboCup IranOpen 2016 Final Match.
Download videos: First Half
(ogv,
mp4),
Second Half
(ogv,
mp4)
Publications
UT
Austin Villa: RoboCup 2016 3D Simulation League Competition and
Technical Challenges Champions.
Patrick MacAlpine and Peter
Stone.
In RoboCup 2016: Robot Soccer World Cup XX, Lecture Notes in
Artificial Intelligence, Springer, 2016.
Prioritized
Role Assignment for Marking.
Patrick MacAlpine and Peter Stone.
In Proceedings
of the RoboCup International Symposium (RoboCup
2016) in Leipzig, Germany, July 2016.
UT
Austin Villa RoboCup 3D Simulation Base Code Release.
Patrick MacAlpine and Peter Stone.
In Proceedings
of the RoboCup International Symposium (RoboCup
2016) in Leipzig, Germany, July 2016.
Binary
Binary and Start/Kill Scripts
-
2015 Competitions
RoboCup 2015
UT Austin Villa won
the RoboCup 2015 competition
held in Hefei, China in July 2015.
The team won all 19 games it played and scored a total of 87
goals
while only conceding 1. The results for each game played can be
found on
the
RoboCup 2015 game results page.
Action from RoboCup 2015.
Download videos: Highlights
(mp4),
Final First Half
(ogv, mp4),
Final Second Half
(ogv, mp4)
UT Austin Villa also won the overall Technical Challenge taking 1st place in
all challenges: Free Challenge, Kick Accuracy Challenge, and Drop-in
Player Challenge.
Keepaway Task
The team in yellow maintaining possession and keeping the ball away from the team in orange (the RoboCup champion 2014 UTAustinVilla team's released binary) using
a Machine
Learning Approach for Kicking and Passing
for the Free
Challenge
(slides).
At the end of the video the team transitions between 'U' and
'T' formations using SCRAM role assignment.
Download video:
(ogv,
mp4)
IranOpen 2015
UT Austin Villa won
the RoboCup IranOpen 2015
competition
held in Tehran, Iran in April 2015.
The team won all 11 games it played and scored a total of 86 goals without conceding any. The results for each game played can be
found on
the
RoboCup IranOpen 2015 3D Simulation League page. During the
competition
the team also won the run challenge, pass challenge, and was voted
as having the best team presentation.
RoboCup IranOpen 2015 Final Match.
Download videos: First Half
(ogv,
mp4),
Second Half
(ogv,
mp4)
Publications
UT
Austin Villa: RoboCup 2015 3D Simulation League Competition and
Technical Challenges Champions.
Patrick MacAlpine, Josiah Hanna, Jason Liang, and Peter
Stone.
In RoboCup-2015: Robot Soccer World Cup XIX, Lecture Notes in
Artificial Intelligence, Springer Verlag, Berlin, 2016.
Binary
Binary and Start/Kill Scripts
-
2014 Competitions
RoboCup 2014
UT Austin Villa won
the RoboCup 2014 competition
held in Joao Pessoa, Brazil in July 2014.
The team finished with an undefeated record and scored a total of 52 goals
without conceding any. The results for each game played can be
found on
the
RoboCup 2014 game results page. A key component to the team's
success was the use of kick anticipation (having players broadcast to
their teammates where they are kicking the ball so that their
teammates can run toward that location) with long distance kicking
for passing and shooting. Long distance kicks were initially
learned
by observation, and then were optimized and integrated through the use
of overlapping layered learning.
Action from RoboCup 2014.
Download videos: Highlights
(mp4),
Final First Half
(ogv, mp4),
Final Second Half
(ogv, mp4)
UT Austin Villa also won the
Technical Challenge taking 2nd place in the Free Challenge, 1st place
in the Running Robot Challenge, and 1st place in the Drop-in Player
Challenge.
Fast Run and Long Kick using Optimized Body Types for the Free
Challenge.
Download videos: Fast Run
(ogv,
mp4),
Long Kick
(ogv,
mp4)
IranOpen 2014
UT Austin Villa won
the RoboCup IranOpen 2014
competition
held in Tehran, Iran in April 2014.
The team won all 9 games it played and scored a total of 29 goals without conceding any. The results for each game played can be
found on
the
RoboCup IranOpen 2014 game results page.
RoboCup IranOpen 2014 Final Match.
Download videos: First Half
(ogv,
mp4),
Second Half
(ogv,
mp4)
First Extra Time Half
(ogv,
mp4),
Second Extra Time Half
(ogv,
mp4)
Publications
UT
Austin Villa: RoboCup 2014 3D Simulation League Competition and
Technical Challenge Champions.
Patrick MacAlpine, Mike Depinet, Jason Liang, and Peter
Stone.
In RoboCup-2014: Robot Soccer World Cup XVIII, Lecture Notes in
Artificial Intelligence, Springer Verlag, Berlin, 2015.
UT Austin Villa 2014: RoboCup 3D Simulation League Champion via Overlapping Layered Learning.
Patrick MacAlpine, Mike Depinet, and Peter Stone.
In the Proceedings
of the Twenty-Ninth AAAI Conference on Artificial
Intelligence (AAAI-15) in Austin, Texas,
USA, January 2015.
SCRAM: Scalable Collision-avoiding Role Assignment with
Minimal-makespan for Formational Positioning.
Patrick MacAlpine, Eric Price, and Peter Stone.
In the Proceedings
of the Twenty-Ninth AAAI Conference on Artificial
Intelligence (AAAI-15) in Austin, Texas,
USA, January 2015.
Keyframe Sampling, Optimization, and Behavior Integration: Towards Long-Distance Kicking in the RoboCup 3D Simulation League.
Mike Depinet, Patrick MacAlpine, and Peter Stone.
In Proceedings
of the RoboCup International Symposium (RoboCup
2014) in Joao Pessoa, Brazil, July 2014.
Binary
Binary and Start/Kill Scripts
-
2013 Competitions
RoboCup 2013
UT Austin Villa took second place at
the RoboCup 2013 competition
held in Eindhoven, Netherlands in June 2013.
The team scored a total of 67 goals without conceding any until the final match which it
narrowly lost 0-1. The results for each game played can be
found on
the
RoboCup 2013 game results page. The team also helped organize
and run the Drop-in Player Challenge.
RoboCup 2013 Final Match.
Download videos: First Half
(mp4),
Second Half
(mp4)
IranOpen 2013
UT Austin Villa won
the RoboCup IranOpen 2013
competition
held in Tehran, Iran in April 2013.
The team finished with an undefeated record and scored a total of 39 goals without conceding any. The results for each game played can be
found on
the
RoboCup IranOpen 2013 game results page.
RoboCup IranOpen 2013 Final Match (Second Extra Time Half shown).
Download videos: Second Extra Time Half
(ogv,
mp4)
First Half
(ogv,
mp4),
Second Half
(ogv,
mp4),
First Extra Time Half
(ogv,
mp4)
Publications
The RoboCup 2013 Drop-In Player Challenges: Experiments in Ad Hoc Teamwork.
Patrick MacAlpine, Katie Genter, Samuel Barrett, and Peter Stone.
In Proceedings of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS) in Chicago, Illinois, USA, September 2014.
Binary
Binary and Start/Kill Scripts
-
2012 Competitions
RoboCup 2012
UT Austin Villa won
the RoboCup 2012 competition
held in Mexico City, Mexico in June 2012.
The results for each game played can be
found on
the
RoboCup 2012 game results page as well as
a highlights
video.
RoboCup 2012 Final Match (Second Extra Time Half shown).
Download videos: Second Extra Time Half (ogv,
mp4)
First Half (ogv,
mp4),
Second Half (ogv,
mp4),
First Extra Time Half (ogv,
mp4)
IranOpen 2012
UT Austin Villa won
the RoboCup IranOpen 2012 competition
held in Tehran, Iran in April 2012.
The team won all 16 games it played and scored a total of 78 goals
without conceding any. The results for each game played can be
found on
the
RoboCup IranOpen 2012 game results page.
RoboCup IranOpen 2012 Final Match.
Download videos: First Half
(ogv, mp4),
Second Half
(ogv,
mp4)
Publications
UT Austin Villa: RoboCup 2012 3D Simulation League Champion.
Patrick MacAlpine, Nick Collins, Adrian Lopez-Mobilia, and Peter Stone.
In RoboCup-2012: Robot Soccer World Cup XVI, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2013.
Positioning to Win: A Dynamic Role Assignment and Formation Positioning System.
Patrick MacAlpine, Francisco Barrera, and Peter Stone.
In Proceedings
of the RoboCup International Symposium (RoboCup
2012) in Mexico City, Mexico, June 2012.
Using Dynamic Rewards to Learn a Fully Holonomic Bipedal Walk.
Patrick MacAlpine and Peter Stone.
In the AAMAS
Adaptive Learning Agents (ALA) Workshop in Valencia, Spain,
June 2012.
Binary
Binary and Start/Kill Scripts
-
2011 Competitions
UT Austin Villa won
the RoboCup 2011 competition
held in Istanbul, Turkey in July 2011.
The team won all 24 games it played and scored a total of 136 goals
without conceding any. The results for each game played can be
found on
the
RoboCup 2011 game results page.
Action from RoboCup 2011.
Download videos: Highlights
(ogv, mp4),
Final 1st half
(ogv,
mp4),
Final 2nd half
(ogv,
mp4)
Publications
Design
and Optimization of an Omnidirectional Humanoid Walk: A Winning Approach at the RoboCup 2011 3D Simulation Competition.
Patrick MacAlpine, Samuel Barrett, Daniel Urieli, Victor Vu, Peter Stone.
In the Proceedings
of the Twenty-Sixth AAAI Conference on Artificial
Intelligence (AAAI-12) in Toronto, Ontario,
Canada, July 2012.
UT
Austin Villa 2011: A Champion Agent in the RoboCup 3D Soccer
Simulation Competition.
Patrick MacAlpine, Daniel Urieli, Samuel Barrett, Shivaram
Kalyanakrishnan, Francisco Barrera, Adrian Lopez-Mobilia, Nicolae
Stiurca, Victor Vu, Peter Stone.
In the Proc. of 11th
Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS
2012) in Valencia, Spain, June 2012.
Wright Eagle and UT Austin Villa: RoboCup 2011 Simulation League Champions.
Aijun Bai, Xiaoping Chen, Patrick MacAlpine, Daniel Urieli, Samuel Barrett, and Peter Stone.
In RoboCup-2011: Robot Soccer World Cup XV, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2012.
UT Austin Villa 2011 3D Simulation Team Report.
Patrick MacAlpine, Daniel Urieli, Samuel Barrett, Shivaram
Kalyanakrishnan, Francisco Barrera, Adrian Lopez-Mobilia, Nicolae
Stiurca, Victor Vu, Peter Stone.
Technical Report AI11-10, The University of Texas at Austin,
Department of Computer Science, AI Laboratory, December 2011.
Agent Components
Omnidirectional
Walk Optimization
Kicking Engine
Dynamic
Role Assignment and Formation Positioning System
Binary
Binary and Start/Kill Scripts
-
2010 Competitions
UT Austin Villa participated in
the RoboCup 2010 competition
held in Singapore in June 2010.
Publications
We published the following paper describing how
we optimized fast locomotion skills for our team:
On Optimizing Interdependent Skills: A Case Study in Simulated 3D Humanoid Robot Soccer.
Daniel Urieli, Patrick MacAlpine, Shivaram Kalyanakrishnan, Yinon Bentor, Peter Stone.
In the Proc. of 10th
Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS
2011) in Taipei, Taiwan, May 2011.
Binary
Binary
and Start/Kill Scripts
-
2008 Competitions
UT Austin Villa participated in the RoboCup 2008 competition held in Suzhou, China, in July 2008. We provide files from our competition entry below.
Team Description Paper
UT Austin Computer Science Technical Report AI09-01 (PS|PDF) describes our team's entry in RoboCup 2008, including skill building and performance statistics and higher-level strategic behavior.
Binary
Binary
Start Script
Kill Script
Videos of Agent Skills
Walk forward (.mov,
.wmv,
.avi).
Walk forward (second view) (.mov,
.wmv,
.avi).
Walk backward (.mov,
.wmv,
.avi).
Walk sideways (.mov,
.wmv,
.avi).
Rise (.mov,
.wmv,
.avi).
Turn (.mov,
.wmv,
.avi).
Kick (.mov,
.wmv,
.avi).
Kick (second view) (.mov,
.wmv,
.avi).
Scoring a goal (.mov,
.wmv,
.avi).
-
2007 Competitions
UT Austin Villa participated in the RoboCup 2007 competition held in Atlanta, U.S.A., in July 2007. The main feature of the 2007 3D Simulation competition was the introduction of a humanoid robot, replacing the spherical agents used until 2006. Despite not having participated in previous years' competitions, our team chose to enter the 2007 competitions mainly because we were motivated by the significant challenge of programming a humanoid robot at a low level of control.
Team Description Paper
Our team description paper (PS|PDF) describes the approaches we adopted in designing our agent. While we made progress in developing skills like walking and turning, we were unable to complete programming others like kicking in time for the competitions. As a result, our team did not secure a placement.
Binary
Here is a binary of our agent. The program has been tested on Ubuntu 5.10; it requires the following libraries for successful execution: boost_thread-gcc-mt (boost-1.33.1), rcssnet3D, zeitgeist, salt, and oxygen (rcssserver3d-0.5.6). The agent may be started through the command line as follows:
> agentspark [options]
options:
--help (prints this message).
--host IP (IP of the server, default 127.0.0.1).
--port portNumber (portNumber of connection to server, default 3100).
--team TeamName (Name of Team, default UTAustinVilla).
--unum UNum (Uniform Number of Player (1 or 2), default 1).
Videos of Agent Skills
Below are some videos of our agent executing its skills.
Dribble to goal(.mov,
.wmv,
.avi).
Walk forward(.mov,
.wmv,
.avi).
Walk sideways(.mov,
.wmv,
.avi).
Walk backward(.mov,
.wmv,
.avi).
Turn(.mov,
.wmv,
.avi).
Fall(.mov,
.wmv,
.avi).
Rise(.mov,
.wmv,
.avi).
For any questions, please
contact Patrick MacAlpine.