Hierarchical MARL with fictitious self-play trains quadruped soccer teams in simulation and transfers them zero-shot to real robots, enabling onboard, decentralized 1v1 and 2v1 soccer with emergent passing and role allocation.
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Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams
Hierarchical MARL with fictitious self-play trains quadruped soccer teams in simulation and transfers them zero-shot to real robots, enabling onboard, decentralized 1v1 and 2v1 soccer with emergent passing and role allocation.