C4.5: programs for machine learning
C4.5: programs for machine learning
Team-partitioned, opaque-transition reinforcement learning
Proceedings of the third annual conference on Autonomous Agents
An architecture for action selection in robotic soccer
Proceedings of the fifth international conference on Autonomous agents
Layered Learning in Multiagent Systems: A Winning Approach to Robotic Soccer
Layered Learning in Multiagent Systems: A Winning Approach to Robotic Soccer
Scaling Reinforcement Learning toward RoboCup Soccer
ICML '01 Proceedings of the Eighteenth International Conference on Machine Learning
Karlsruhe Brainstormers - A Reinforcement Learning Approach to Robotic Soccer
RoboCup 2000: Robot Soccer World Cup IV
Refinement of Soccer Agents' Positions Using Reinforcement Learning
RoboCup-97: Robot Soccer World Cup I
Co-evolving Soccer Softbot Team Coordination with Genetic Programming
RoboCup-97: Robot Soccer World Cup I
RoboCup-98: Robot Soccer World Cup II
The RoboCup synthetic agent challenge 97
IJCAI'97 Proceedings of the 15th international joint conference on Artifical intelligence - Volume 1
AAMAS '03 Proceedings of the second international joint conference on Autonomous agents and multiagent systems
Evolving Soccer Keepaway Players Through Task Decomposition
Machine Learning
Cooperative Multi-Agent Learning: The State of the Art
Autonomous Agents and Multi-Agent Systems
Batch reinforcement learning in a complex domain
Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems
Towards reinforcement learning representation transfer
Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems
IFSA: incremental feature-set augmentation for reinforcement learning tasks
Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems
Analysis of an evolutionary reinforcement learning method in a multiagent domain
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 1
A new perspective to the keepaway soccer: the takers
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 3
Rational Passing Decision Based on Region for the Robotic Soccer
RoboCup 2007: Robot Soccer World Cup XI
Evolving Neural Networks for Online Reinforcement Learning
Proceedings of the 10th international conference on Parallel Problem Solving from Nature: PPSN X
Experimental analysis on Sarsa(λ) and Q(λ) with different eligibility traces strategies
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology - Theoretical advances of intelligent paradigms
Value-function-based transfer for reinforcement learning using structure mapping
AAAI'06 Proceedings of the 21st national conference on Artificial intelligence - Volume 1
Representation transfer via elaboration
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
An experts algorithm for transfer learning
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Evolving keepaway soccer players through task decomposition
GECCO'03 Proceedings of the 2003 international conference on Genetic and evolutionary computation: PartI
Reinforcement learning of competitive skills with soccer agents
KES'07/WIRN'07 Proceedings of the 11th international conference, KES 2007 and XVII Italian workshop on neural networks conference on Knowledge-based intelligent information and engineering systems: Part I
Kernel-based online NEAT for keepaway soccer
LSMS'07 Proceedings of the Life system modeling and simulation 2007 international conference on Bio-Inspired computational intelligence and applications
Transfer learning through indirect encoding
Proceedings of the 12th annual conference on Genetic and evolutionary computation
Teamwork formation for keepaway in robotics soccer (reinforcement learning approach)
PRIMA'06 Proceedings of the 9th Pacific Rim international conference on Agent Computing and Multi-Agent Systems
Transfer learning via multiple inter-task mappings
EWRL'11 Proceedings of the 9th European conference on Recent Advances in Reinforcement Learning
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RoboCup simulated soccer presents many challenges to machine learning (ML) methods, including a large state space, hidden and uncertain state, multiple agents, and long and variable delays in the effects of actions. While there have been many successful ML applications to portions of the robotic soccer task, it appears to be still beyond the capabilities of modern machine learning techniques to enable a team of 11 agents to successfully learn the full robotic soccer task from sensors to actuators. Because the successful applications to portions of the task have been embedded in different teams and have often addressed different sub-tasks, they have been difficult to compare. We put forth keepaway soccer as a domain suitable for directly comparing different machine learning approaches to robotic soccer. It is complex enough that it can't be solved trivially, yet simple enough that complete machine learning approaches are feasible. In keepaway, one team, "the keepers," tries to keep control of the ball for as long as possible despite the efforts of "the takers." The keepers learn individually when to hold the ball and when to pass to a teammate, while the takers learn when to charge the ball-holder and when to cover possible passing lanes. We fully specify the domain and summarize some initial, successful learning results.