RoboCup 2D Soccer Simulation League

The RoboCup 2D Simulated Soccer League is the oldest of the RoboCup Soccer Simulation Leagues. It consists of a number of competitions with computer simulated soccer matches as the main event.

RoboCup 2D Soccer Simulation League

Founded	1997
Region	International
Current champions	Helios
Most successful team(s)	WrightEagle (6 titles)
Website	www.robocup.org

2D Soccer Simulation Screenshot

There are no physical robots in this league but spectators can watch the action on a large screen, which looks like a giant computer game. Each simulated robot player may have its own play strategy and characteristic and every simulated team actually consists of a collection of programs. Many computers are networked together in order for this competition to take place.

Rules

In the 2D Simulation League, two teams of eleven autonomous software programs (called agents) each play soccer in a two-dimensional virtual soccer stadium represented by a central server, called SoccerServer.^[1] This server knows everything about the game, i.e. the current position of all players and the ball, the physics and so on. The game further relies on the communication between the server and each agent. On the one hand each player receives relative and noisy input of his virtual sensors (visual, acoustic and physical) and may on the other hand perform some basic commands (like dashing, turning or kicking) in order to influence its environment.

The big challenge in the Simulation League is to conclude from all possible world states (derived from the sensor input by calculating a sight on the world as absolute and noise-free as possible) to the best possible action to execute. As a game is divided into 6000 cycles this task has to be accomplished in time slot of 100 ms (the length of each cycle).^[2]

Results

Year	Host		Winner	Score	Runner-up		Third place	Score	Fourth place		Number of teams
1997 Details	Nagoya		AT-Humboldt	11–2	Andhill		ISIS	2–1	CMUnited		29
1998 Details	Paris		CMUnited	3–0	AT-Humboldt		Windmill Wanderers	–	ISIS		36
1999 Details	Stockholm		CMUnited	7–0	magmaFreiburg		Essex Wizards	–	11 Monkeys		24
2000 Details	Melbourne		FCPortugal	1–0	Brainstormers		ATT-CMUnited	–	CMUnited		24
2001 Details	Seattle		TsinghuAeolus	1–0	Brainstormers		FCPortugal	–	UvA Trilearn		24
2002 Details	Fukuoka		TsinghuAeolus	7–0	Everest		Brainstormers	–	FCPortugal		24
2003 Details	Padova		UvA Trilearn	4-3	TsinghuAeolus		Brainstormers	2–1	Everest		24
2004 Details	Lisbon		STEP	8-1	Brainstormers		Mersad	1-0	TsinghuAeolus		24
2005 Details	Osaka		Brainstormers	3-0	WrightEagle		TokyoTechSFC	–	STEP		17
2006 Details	Bremen		WrightEagle	2-1	Brainstormers		Ri-one	–	TokyoTech		16
2007 Details	Atlanta		Brainstormers	3-0	WrightEagle		HELIOS	2-1	OPU_hana_2D		15
2008 Details	Suzhou		Brainstormers	4–3	WrightEagle		HELIOS	–	AmoyNQ		15
2009 Details	Graz		WrightEagle	2–1	HELIOS		Oxsy	1–0	Brainstormers		19
2010 Details	Singapore		HELIOS	2–1	WrightEagle		Oxsy	–	ESKILAS		20
2011 Details	Istanbul		WrightEagle	3–2	HELIOS		MarliK	3–2	Oxsy		19
2012 Details	Mexico City		HELIOS	4–1	WrightEagle		MarliK	1-0	Gliders		19
2013 Details	Eindhoven		WrightEagle	2–0	HELIOS		YuShan	–	Axiom		20
2014 Details	João Pessoa		WrightEagle	3–2	Gliders		Oxsy	2-1	HELIOS		15
2015 Details	Hefei		WrightEagle	4–0	HELIOS		Gliders	–	Oxsy		19
2016 Details	Leipzig		Gliders	2–1	HELIOS		Rione	–	CSU		18
2017 Details	Nagoya		HELIOS	2–0	FRA-United		Oxsy	0-0(2-1)	Cyrus		16
2018 Details	Montreal		HELIOS	1–0	Cyrus		MT	2-0	Oxsy		13
2019 Details	Sydney		Fractals	1–0	HELIOS		Cyrus	3-1	YuShan		15
2021 Details	Online WorldWide		Cyrus	1–0	HELIOS		YuShan	2-1	HfutEngine		16
2022 Details	Bangkok		HELIOS	1–0	Cyrus		YuShan	7-0	Oxsy		12
2023 Details	Bordeaux		HELIOS	1–0	Cyrus		YuShan	5-3	Oxsy		14
2024 Details	Eindhoven	HELIOS	2–2(4-3)	Cyrus	YuShan	1-0	FRA-United	10

Teams reaching the top four

Team	Titles	Runners-up	Third place	Fourth place
HELIOS	7 (2010, 2012, 2017, 2018, 2022, 2023, 2024)	6 (2009, 2011, 2013, 2015, 2019, 2021)	2 (2007, 2008)	1 (2014)
WrightEagle	6 (2006, 2009, 2011, 2013, 2014, 2015)	5 (2005, 2007, 2008, 2010, 2012)
Brainstormers	3 (2005, 2007, 2008)	4 (2000, 2001, 2004, 2006)	2 (2002, 2003)	1 (2009)
TsinghuAeolus	2 (2001, 2002)	1 (2003)		1 (2004)
CMUnited	2 (1998, 1999)			2 (1997, 2000)
Cyrus	1 (2021)	3 (2022, 2023, 2024)
AT-Humboldt	1 (1997)	1 (1998)		1 (2006)
FCPortugal	1 (2000)		1 (2001)	1 (2002)
Uva Trilearn	1 (2003)			1 (2001)
STEP	1 (2004)			1 (2005)
Gliders	1 (2016)	1 (2014)	1 (2015)	1 (2012)
Fractals	1 (2019)
Cyrus		1 (2018)	1 (2019)	1 (2017)
Everest		1 (2002)		1 (2003)
FRA-United		1 (2017)		1 (2024)
YuShan			5 (2013, 2021, 2022, 2023, 2024)	1 (2019)
Oxsy			4 (2009, 2010, 2014, 2017)	4 (2011, 2015, 2018, 2022)
MarliK			2 (2011, 2012)
ISIS			1 (1997)	1 (1998)
MT			1 (2018)
Ri-one			1 (2006)
TokyoTechSFC			1 (2005)
Mersad			1 (2004)
ATT-CMUnited			1 (2000)
Essex Wizards			1 (1999)
Windmill Wanderers			1 (1998)
HfutEngine				1 (2021)
Axiom				1 (2013)
ESKILAS				1 (2010)
OPU_hana_2D				1 (2007)
11 Monkeys				1 (1999)

Titles per country

Country	Titles	Runners-up
China	8	7
Japan	5	5
Germany	4	7
Australia	2	1
United States	2	0
Canada	1	1
Netherlands	1	0
Russia	1	0
Portugal	1	0
Iran	0	1

Teams

Country	Team(s)	University/Institute/School
Australia	Gliders Receptivity Fractals	CSIRO Computational Informatics
Brazil	Asimov2D GPR2D ITAndroids UFSJ2D Warthog2D Expertinos Robotbulls PMec-Allejos RobôCIn	Federal Institute of Espírito Santo Parana Federal Technological University Aeronautics Technological Institute Federal University of São João del-Rei University of São Paulo Federal University of Itajubá National Institute of Telecommunications Federal University of Goiás Federal University of Pernambuco
Canada	Cyrus	Dalhousie University
China	AUA2D Apollo2D Everest HfutEngine TsinghuAeolus MT WrightEagle YuShan GDUT_TiJi Alice2D	Anhui University of Architecture Beijing Institute of Technology Nanjing University of Posts and Telecommunications Tsinghua University Hefei University University of Science and Technology of China Anhui University of Technology Guangdong University of Technology Hefei Normal University
Germany	FRA-United	Frankfurt University of Applied Sciences
India	InfoGraphics	Indian Institute of Technology, Kharagpur
Iran	Cyrus Tehran2D MasterPiece 051 Armik AUTParsian Axiom Shiraz HERMES Nexus2D Unique Riton Artemis Soccereus AbouAliSina ESKILAS LegenDary MarliK NADCO-2D Genius Razi Persepolis The 8 RoboSampad Hades2D	Atomic Energy High School Atomic Energy High School Amirkabir University of Technology (Tehran Polytechnic) Iran University of Science and Technology (IUST) Shiraz University Of Technology Allame Helli1 high school Mashhad University Allame Helli High School AbouAliSina HighSchool Islamic Azad University of Mashhad University of Guilan, Shahid Beheshti University University Of Guilan, UGM-LaB Islamic Azad University, NADCO Educational Robotics Corporation Ghazal High School Shahid Beheshti Highschool of Ardabil
Japan	HELIOS RaiC Ri-one	Fukuoka University, AIST, Osaka Prefecture University Fukui National College of Technology Ritsumeikan University
Netherlands	Windmill Wanderers UvA Trilearn	Universiteit van Amsterdam
Portugal	FCPortugal	Aveiro University, Porto University
Romania	Oxsy	Compa-IT

See also

• RoboCup
• RoboCup Simulation League
• RoboCup 3D Soccer Simulation League