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.

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. 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).

Results YearHostWinnerScoreRunner-upThird placeScoreFourth placeNumber of teams1997 Details Nagoya AT-Humboldt11–2 Andhill ISIS2–1 CMUnited291998 Details Paris CMUnited3–0 AT-Humboldt Windmill Wanderers– ISIS361999 Details Stockholm CMUnited7–0 magmaFreiburg Essex Wizards– 11 Monkeys242000 Details Melbourne FCPortugal1–0 Brainstormers ATT-CMUnited– CMUnited242001 Details Seattle TsinghuAeolus1–0 Brainstormers FCPortugal– UvA Trilearn242002 Details Fukuoka TsinghuAeolus7–0 Everest Brainstormers– FCPortugal242003 Details Padova UvA Trilearn4-3 TsinghuAeolus Brainstormers2–1 Everest242004 Details Lisbon STEP8-1 Brainstormers Mersad1-0 TsinghuAeolus242005 Details Osaka Brainstormers3-0 WrightEagle TokyoTechSFC– STEP172006 Details Bremen WrightEagle2-1 Brainstormers Ri-one– TokyoTech162007 Details Atlanta Brainstormers3-0 WrightEagle HELIOS2-1 OPU_hana_2D152008 Details Suzhou Brainstormers4–3 WrightEagle HELIOS– AmoyNQ152009 Details Graz WrightEagle2–1 HELIOS Oxsy1–0 Brainstormers192010 Details HELIOS2–1 WrightEagle Oxsy– ESKILAS202011 Details Istanbul WrightEagle3–2 HELIOS MarliK3–2 Oxsy192012 Details Mexico City HELIOS4–1 WrightEagle MarliK1-0 Gliders192013 Details Eindhoven WrightEagle2–0 HELIOS YuShan– Axiom202014 Details João Pessoa WrightEagle3–2 Gliders Oxsy2-1 HELIOS152015 Details Hefei WrightEagle4–0 HELIOS Gliders– Oxsy192016 Details Leipzig Gliders2–1 HELIOS Rione– CSU182017 Details Nagoya HELIOS2–0 FRA-United Oxsy0-0(2-1) Cyrus162018 Details Montreal HELIOS1–0 Cyrus MT2-0 Oxsy132019 Details Sydney Fractals1–0 HELIOS Cyrus3-1 YuShan152021 Details Online WorldWide Cyrus1–0 HELIOS YuShan2-1 HfutEngine162022 Details Bangkok HELIOS1–0 Cyrus YuShan7-0 Oxsy122023 Details Bordeaux HELIOS1–0 Cyrus YuShan5-3 Oxsy142024 Details Eindhoven HELIOS2–2(4-3) Cyrus YuShan1-0 FRA-United102025 Details Salvador HELIOS2–0 YuShan YuShan6-2 RobôCIn9

Teams reaching the top four Team Titles Runners-up Third place Fourth place HELIOS8 (2010, 2012, 2017, 2018, 2022, 2023, 2024, 2025)6 (2009, 2011, 2013, 2015, 2019, 2021)2 (2007, 2008)1 (2014) WrightEagle6 (2006, 2009, 2011, 2013, 2014, 2015)5 (2005, 2007, 2008, 2010, 2012) Brainstormers3 (2005, 2007, 2008)4 (2000, 2001, 2004, 2006)2 (2002, 2003)1 (2009) TsinghuAeolus2 (2001, 2002)1 (2003)1 (2004) CMUnited2 (1998, 1999)2 (1997, 2000) Cyrus1 (2021) 3 (2022, 2023, 2024) AT-Humboldt1 (1997)1 (1998)1 (2006) FCPortugal1 (2000)1 (2001)1 (2002) Uva Trilearn1 (2003)1 (2001) STEP1 (2004)1 (2005) Gliders1 (2016)1 (2014)1 (2015)1 (2012) Fractals1 (2019) Cyrus1 (2018)1 (2019)1 (2017) Everest1 (2002)1 (2003) FRA-United1 (2017)1 (2025)1 (2024) YuShan1 (2025)5 (2013, 2021, 2022, 2023, 2024)1 (2019) Oxsy4 (2009, 2010, 2014, 2017)4 (2011, 2015, 2018, 2022) MarliK2 (2011, 2012) ISIS1 (1997)1 (1998) MT1 (2018) Ri-one1 (2006) TokyoTechSFC1 (2005) Mersad1 (2004) ATT-CMUnited1 (2000) Essex Wizards1 (1999) Windmill Wanderers1 (1998) HfutEngine1 (2021) Axiom1 (2013) ESKILAS1 (2010) OPU_hana_2D1 (2007) 11 Monkeys1 (1999) RobôCIn1 (2025)

Titles per country

CountryTitlesRunners-up China87 Japan86 Germany47 Australia21 United States20 Canada11 Netherlands10 Russia10 Portugal10 Iran01

Teams CountryTeam(s)University/Institute/SchoolGlidersReceptivityFractalsCSIRO Computational Informatics Asimov2DGPR2DITAndroidsUFSJ2DWarthog2DExpertinosRobotbullsPMec-AllejosRobôCInFederal Institute of Espírito SantoParana Federal Technological UniversityAeronautics Technological InstituteFederal University of São João del-ReiUniversity of São PauloFederal University of ItajubáNational Institute of Telecommunications Federal University of GoiásFederal University of PernambucoCyrusDalhousie UniversityAUA2DApollo2DEverestHfutEngineTsinghuAeolusMTWrightEagleYuShanGDUT_TiJiAlice2DAnhui University of ArchitectureBeijing Institute of TechnologyNanjing University of Posts and TelecommunicationsTsinghua UniversityHefei UniversityUniversity of Science and Technology of ChinaAnhui University of TechnologyGuangdong University of TechnologyHefei Normal UniversityFRA-UnitedFrankfurt University of Applied Sciences InfoGraphicsIndian Institute of Technology, Kharagpur CyrusTehran2DMasterPiece051ArmikAUTParsianAxiomShirazHERMESNexus2DUniqueRitonArtemisSoccereusAbouAliSinaESKILASLegenDaryMarliKNADCO-2DGeniusRaziPersepolisThe 8RoboSampadHades2DAtomic Energy High SchoolAtomic Energy High SchoolAmirkabir University of Technology (Tehran Polytechnic)Iran University of Science and Technology (IUST)Shiraz University Of TechnologyAllame Helli1 high schoolMashhad UniversityAllame Helli High SchoolAbouAliSina HighSchoolIslamic Azad University of MashhadUniversity of Guilan, Shahid Beheshti UniversityUniversity Of Guilan, UGM-LaBIslamic Azad University, NADCO Educational Robotics CorporationGhazal High SchoolShahid Beheshti Highschool of ArdabilHELIOSRaiCRi-oneFukuoka University, AIST, Osaka Prefecture UniversityFukui National College of TechnologyRitsumeikan UniversityWindmill WanderersUvA TrilearnUniversiteit van AmsterdamFCPortugalAveiro University, Porto UniversityOxsyCompa-IT

See also RoboCup RoboCup Simulation League RoboCup 3D Soccer Simulation League

References

External links RoboCup Soccer Simulation League The RoboCup Soccer Simulator RoboCup Soccer Simulator Wiki Team Assistant for 3D Visualisation RoboCup Historical Data Repository (Log Files, Team Binaries...) The WrightEagle Team The Helios Team The Oxsy Team The Brainstormers Team The CMUnited Team The Gliders Team The Alice Team