From motor control to team play in simulated humanoid football

Siqi Liu, Guy Lever, Zhe Wang, Josh Merel, S. M. Ali Eslami, Daniel Hennes, Wojciech M. Czarnecki, Yuval Tassa, Shayegan Omidshafiei, Abbas Abdolmaleki, Noah Y. Siegel, Leonard Hasenclever, Luke Marris, Saran Tunyasuvunakool, H. Francis Song, Markus Wulfmeier, Paul Muller, Tuomas Haarnoja, Brendan D. Tracey, Karl Tuyls et al. (2 additional authors not shown)

Abstract: Learning to combine control at the level of joint torques with longer-term goal-directed behavior is a long-standing challenge for physically embodied artificial agents. Intelligent behavior in the...