Formats
SingleDuelTeam
Soccer 2 v 2
Real timeSingleDuelTeamMuJoCoOfficial
Soccer 2 v 2·Booster T1 humanoids, 5 v 5·duel (team), program play, x10 slowdown·Team A: GPT-6 Luna (program play) vs Team B: oracle reference team·final 4:1 for APreliminary · n = 1 recorded match
Blender 4.2.23 LTS CyclesBlender Cycles
This film shows a 5 v 5 match; the benchmark task is 2 v 2.
Rules
Robot soccer 2 v 2 under the RoboCup Humanoid Soccer League rules: four Booster T1 humanoids on a boarded 10 x 7 m pitch, two halves of 2.5 minutes, a penalty shoot-out when level. Each robot takes a walk command, stand, or a toe kick; players see only their robots' head cameras.
RoboCup Humanoid Soccer League (HSL) Rule Book 2026, Laws 1-17 (its Laws of the Game follow the IFAB Laws of the Game) 2026 (commit 06c44d4, 2026-06-29)12 declared deviations
The current task is 2 v 2. The team format has one agent per robot.
Physics
MuJoCo
Body
Four Booster T1 humanoids (lower bodies on the released walking policy)
Mainly tests
- 3D spatial understanding
- Embodiment and execution
- Rules
- Strategy and reading the opponent
- Teamwork
Physics it tests
walkingcontact
Modes
Current tasks use one action level: the sport's native commands.
Rules revision soccer-2v2-3