UT Austin Villa Publications
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Standard Platform League
- Zichao Hu, Zifan Xu, Dongsik Chang, He Yin, Linh Tran, Roberto Martın-Martın, Peter Stone, Jingyu Qiao, and Joydeep Biswas. VOFA: Visual Object Goal Pushing with Force-Adaptive Control for Humanoids. In The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2026.
Details BibTeX Download: [pdf] (2.3MB ) - Zifan Xu, Myoungkyu Seo, Dongmyeong Lee, Hao Fu, Jiaheng Hu, Jiaxun Cui, Yuqian Jiang, Zhihan Wang, Anastasiia Brund, Joydeep Biswas, and Peter Stone. Learning Agile Striker Skills for Humanoid Soccer Robots from Noisy Sensory Input. In International Conference on Robotics and Automation (ICRA), June 2026.
Details BibTeX Download: [pdf] (4.7MB ) - Adam Labiosa, Zhihan Wang, Siddhant Agarwal, William Cong, Geethika Hemkumar, Abhinav Narayan Harish, Benjamin Hong, Josh Kelle, Chen Li, Yuhao Li, Zisen Shao, Peter Stone, and Josiah Hanna. Reinforcement Learning within the Classical Robotics Stack: A Case Study in Robot Soccer. In International Conference on Robotics and Automation (ICRA), May 2025.
Details BibTeX Download: [pdf] (1.1MB ) - Alessandra Rossi, Maike Paetzel-Prüsmann, Merel Keijsers, Michael Anderson, Susan Leigh Anderson, Daniel Barry, Jan Gutsche, Justin Hart, Luca Iocchi, Ainse Kokkelmans, Wouter Kuijpers, Yun Liu, Daniel Polani, Caleb Roscon, Marcus Scheunemann, Peter Stone, Florian Vahl, René van de Molengraft, and Oskar von Stryk. The Human in the Loop: Perspectives and Challenges for RoboCup 2050. Autonomous Robots, May 2024.
Official version on publisher's website
Details BibTeX Download: [pdf] (2.1MB ) [HTML] - Josiah P. Hanna, Siddharth Desai, Haresh Karnan, Garrett Warnell, and Peter Stone. Grounded Action Transformation for Sim-to-Real Reinforcement Learning. Special Issue on Reinforcement Learning for Real Life, Machine Learning, 2021, May 2021.
Details BibTeX Download: [pdf] (3.0MB ) - Siddharth Desai, Haresh Karnan, Josiah P. Hanna, Garrett Warnell, and Peter Stone. Stochastic Grounded Action Transformation for Robot Learning in Simulation. In IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2020), October 2020.
11-minute video presentation.
Details BibTeX Download: [pdf] (1.9MB ) - Katie Genter, Tim Laue, and Peter Stone. Three Years of the RoboCup Standard Platform League Drop-in Player Competition: Creating and Maintaining a Large Scale Ad Hoc Teamwork Robotics Competition. Autonomous Agents and Multi-Agent Systems (JAAMAS), 31(4):790–820, Springer, July 2017.
Official version from Publisher's Webpage
Details BibTeX Download: [pdf] (1.2MB ) - Josiah Hanna and Peter Stone. Grounded Action Transformation for Robot Learning in Simulation. In Proceedings of the 31st AAAI Conference on Artificial Intelligence (AAAI), February 2017.
Details BibTeX Download: [pdf] (1.3MB ) - Jacob Menashe, Josh Kelle, Katie Genter, Josiah Hanna, Elad Liebman, Sanmit Narvekar, Ruohan Zhang, and Peter Stone. Fast and Precise Black and White Ball Detection for RoboCup Soccer. In RoboCup-2017: Robot Soccer World Cup XXI, pp. 45–59, Springer, July 2017.
Details BibTeX Download: [pdf] (254.2kB ) [ps] (716.1kB ) - Katie Genter, Patrick MacAlpine, Jacob Menashe, Josiah Hannah, Elad Liebman, Sanmit Narvekar, Zhang,Ruohan, and Peter Stone. UT Austin Villa: Project-Driven Research in AI and Robotics. IEEE Intelligent Systems , 31(02):94–101, IEEE Computer Society, Los Alamitos, CA, USA, March 2016.
Available from publisher's webpage
Details BibTeX Download: [HTML] - Donghyun Kim, Steven Jens Jorgensen, Peter Stone, and Luis Sentis. Dynamic Behaviors on the NAO Robot With Closed-Loop Whole Body Operational Space Control. In IEEE-RAS International Conference on Humanoid Robots, 2016.
Details BibTeX Download: [pdf] (4.0MB ) - Peter Stone. What's Hot at RoboCup (Extended Abstract). In Proceedings of the Thirtieth AAAI Conference on Artificial Intelligence, February 2016.
Details BibTeX Download: [pdf] (64.9kB ) - Daniele Nardi, Itsuki Noda, Fernando Ribeiro, Peter Stone, Oskar von Stryk, and Manuela Veloso. RoboCup Soccer Leagues. AI Magazine, 35(3):77–85, 2014.
Details BibTeX Download: (unavailable) - Samuel Barrett, Katie Genter, Yuchen He, Todd Hester, Piyush Khandelwal, Jacob Menashe, and Peter Stone. UT Austin Villa 2012: Standard Platform League World Champions. In Xiaoping Chen, Peter Stone, Luis Enrique Sucar, and Tijn Van der Zant, editors, RoboCup-2012: Robot Soccer World Cup XVI, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2013.
Details BibTeX Download: [pdf] (740.4kB ) [ps] (15.0MB ) - Xiaoping Chen, Peter Stone, Luis Enrique Sucar, and Tijn van der Zant, editors. RoboCup-2012: Robot Soccer World Cup XVI, Lecture Notes in Artificial Intelligence 7500, Springer Verlag, Berlin, 2013.
A book based on RoboCup-2012
Available from the publisher's webpage
ISBN: 978-3-642-39249-8
Details BibTeX Download: (unavailable) - Jacob Menashe, Katie Genter, Samuel Barrett, and Peter Stone. UT Austin Villa 2013: Advances in Vision, Kinematics, and Strategy. In The Eighth Workshop on Humanoid Soccer Robots at Humanoids 2013, October 2013.
Details BibTeX Download: [pdf] (350.2kB ) [ps] (24.1MB ) - Samuel Barrett, Katie Genter, Todd Hester, Piyush Khandelwal, Michael Quinlan, Peter Stone, and Mohan Sridharan. Austin Villa 2011: Sharing is Caring: Better Awareness through Information Sharing. Technical Report UT-AI-TR-12-01, The University of Texas at Austin, Department of Computer Sciences, AI Laboratory, 2012.
Details BibTeX Download: [pdf] (1.1MB ) [ps] (32.8MB ) - Piyush Khandelwal and Peter Stone. A Low Cost Ground Truth Detection System Using the Kinect. In Thomas Roefer, Norbert Michael Mayer, Jesus Savage, and Uluc Saranli, editors, RoboCup-2011: Robot Soccer World Cup XV, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2012.
Details BibTeX Download: [pdf] (323.7kB ) [ps] (2.7MB ) - Samuel Barrett, Katie Genter, Matthew Hausknecht, Todd Hester, Piyush Khandelwal, Juhyun Lee, Michael Quinlan, Aibo Tian, Peter Stone, and Mohan Sridharan. Austin Villa 2010 Standard Platform Team Report. Technical Report UT-AI-TR-11-01, The University of Texas at Austin, Department of Computer Sciences, AI Laboratory, 2011.
Details BibTeX Download: [pdf] (1.3MB ) [ps] (38.0MB ) - Samuel Barrett, Katie Genter, Todd Hester, Michael Quinlan, and Peter Stone. Controlled Kicking under Uncertainty. In The Fifth Workshop on Humanoid Soccer Robots at Humanoids 2010, December 2010.
Details BibTeX Download: [pdf] (357.3kB ) [ps] (17.7MB ) - Samuel Barrett, Matt E. Taylor, and Peter Stone. Transfer Learning for Reinforcement Learning on a Physical Robot. In Ninth International Conference on Autonomous Agents and Multiagent Systems - Adaptive Learning Agents Workshop (AAMAS - ALA), May 2010.
AAMAS ALA 2010
Details BibTeX Download: [pdf] (688.8kB ) [ps] (5.7MB ) - Piyush Khandelwal, Matthew Hausknecht, Juhyun Lee, Aibo Tian, and Peter Stone. Vision Calibration and Processing on a Humanoid Soccer Robot. In The Fifth Workshop on Humanoid Soccer Robots at Humanoids 2010, December 2010.
Details BibTeX Download: [pdf] (402.6kB ) [ps] (14.8MB ) - Peter Stone, Michael Quinlan, and Todd Hester. The Essence of Soccer, Can Robots Play Too?. In Ted Richards, editor, Soccer and Philosophy: Beautiful Thoughts on theBeautiful Game, Popular Culture and Philosophy, pp. 75–88, Open Court Publishing Company, 2010.
Appears in Soccer and Philosophy (available from amazon.com)
Details BibTeX Download: [pdf] (121.3kB ) [ps] (514.1kB ) - Todd Hester, Michael Quinlan, Peter Stone, and Mohan Sridharan. TT-UT Austin Villa 2009: Naos across Texas. Technical Report UT-AI-TR-09-08, The University of Texas at Austin, Department of Computer Science, AI Laboratory, 2009.
Details BibTeX Download: [pdf] (787.9kB ) [ps] (7.0MB ) - Todd Hester, Michael Quinlan, and Peter Stone. UT Austin Villa 2008: Standing on Two Legs. Technical Report UT-AI-TR-08-8, The University of Texas at Austin, Department of Computer Sciences, AI Laboratory, 2008.
Details BibTeX Download: [pdf] (705.9kB ) [ps] (6.2MB )
Simulation League
- Ori Ossmy, Danyang Han, Patrick MacAlpine, Justine Hoch, Peter Stone, and Karen E. Adolph. Walking and Falling: Using Robot Simulations to Model the Role of Errors in Infant Walking. Developmental Science, 27:e13449, September 2023.
Available from the publisher's webpage
Details BibTeX Download: [HTML] - Patrick MacAlpine, Bo Liu, William Macke, Caroline Wang, and Peter Stone. UT Austin Villa: RoboCup 2021 3D Simulation League Competition Champions. In Rachid Alami, Joydeep Biswas, Maya Cakmak, and Oliver Obst, editors, RoboCup 2021: Robot World Cup XXIV, pp. 314–26, Springer International Publishing, 2022.
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/#2021
Details BibTeX Download: [pdf] (2.5MB ) - Patrick MacAlpine, Faraz Torabi, Brahma Pavse, and Peter Stone. UT Austin Villa: RoboCup 2019 3D Simulation League Competition and Technical Challenge Champions. In Stephan Chalup, Tim Niemueller, Jackrit Suthakorn, and Mary-Anne Williams, editors, RoboCup 2019: Robot World Cup XXIII, Lecture Notes in Artificial Intelligence, pp. 540–52, Springer, 2019.
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/#2019
Details BibTeX Download: [pdf] (233.2kB ) [ps] (3.8MB ) - Patrick MacAlpine, Faraz Torabi, Brahma Pavse, John Sigmon, and Peter Stone. UT Austin Villa: RoboCup 2018 3D Simulation League Champions. In Dirk Holz, Katie Genter, Maarouf Saad, and Oskar von Stryk, editors, RoboCup 2018: Robot Soccer World Cup XXII, Lecture Notes in Artificial Intelligence, pp. 462–75, Springer, 2019.
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/#2018
Details BibTeX Download: [pdf] (486.2kB ) [ps] (6.0MB ) - Patrick MacAlpine and Peter Stone. Overlapping Layered Learning. Artificial Intelligence, 254:21–43, Elsevier, January 2018.
Official version from Publisher's Webpage
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/overlappingLayeredLearning.html
Details BibTeX Download: [pdf] (1.2MB ) [ps] (3.8MB ) [HTML] - Patrick MacAlpine and Peter Stone. UT Austin Villa: RoboCup 2017 3D Simulation League Competition and Technical Challenges Champions. In Claude Sammut, Oliver Obst, Flavio Tonidandel, and Hidehisa Akyama, editors, RoboCup 2017: Robot Soccer World Cup XXI, Lecture Notes in Artificial Intelligence, pp. 473–85, Springer, 2018.
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/#2017
Details BibTeX Download: [pdf] (973.5kB ) [ps] (19.4MB ) - Ori Ossmy, Justine E. Hoch, Patrick MacAlpine, Shohan Hasan, Peter Stone, and Karen E. Adolph. Variety Wins: Soccer-Playing Robots and Infant Walking. Frontiers in Neurorobotics, 12:19, 2018.
Available from the publisher's webpage
Details BibTeX Download: [pdf] (2.9MB ) [HTML] - Patrick MacAlpine and Peter Stone. Evaluating Ad Hoc Teamwork Performance in Drop-In Player Challenges. In Gita Sukthankar and Juan A. Rodriguez-Aguilar, editors, Autonomous Agents and Multiagent Systems, AAMAS 2017 Workshops, Best Papers, Lecture Notes in Artificial Intelligence, pp. 168–86, Springer International Publishing, 2017.
Details BibTeX Download: [pdf] (518.7kB ) [ps] (2.6MB ) - Patrick MacAlpine and Peter Stone. UT Austin Villa: RoboCup 2016 3D Simulation League Competition and Technical Challenges Champions. In Sven Behnke, Daniel D. Lee, Sanem Sariel, and Raymond Sheh, editors, RoboCup 2016: Robot Soccer World Cup XX, Lecture Notes in Artificial Intelligence, pp. 515–28, Springer, 2017.
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/#2016
Details BibTeX Download: [pdf] (555.8kB ) [ps] (14.4MB ) - Patrick MacAlpine and Peter Stone. Prioritized Role Assignment for Marking. In Sven Behnke, Daniel D. Lee, Sanem Sariel, and Raymond Sheh, editors, RoboCup 2016: Robot Soccer World Cup XX, Lecture Notes in Artificial Intelligence, pp. 306–18, Springer Verlag, Berlin, 2017.
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2016/html/marking.html
Details BibTeX Download: [pdf] (1.7MB ) [ps] (13.5MB ) - Patrick MacAlpine and Peter Stone. UT Austin Villa RoboCup 3D Simulation Base Code Release. In Sven Behnke, Daniel D. Lee, Sanem Sariel, and Raymond Sheh, editors, RoboCup 2016: Robot Soccer World Cup XX, Lecture Notes in Artificial Intelligence, pp. 135–43, Springer Verlag, Berlin, 2017.
Code release at https://github.com/LARG/utaustinvilla3d
Details BibTeX Download: [pdf] (394.2kB ) [ps] (2.1MB ) - Samuel Barrett, Avi Rosenfeld, Sarit Kraus, and Peter Stone. Making Friends on the Fly: Cooperating with New Teammates. Artificial Intelligence, October 2016.
Official version from journal website.
Details BibTeX Download: [pdf] (917.9kB ) [HTML] - Matthew Hausknecht and Peter Stone. Deep Reinforcement Learning in Parameterized Action Space. In Proceedings of the International Conference on Learning Representations (ICLR), May 2016.
Details BibTeX Download: [pdf] (468.3kB ) - David L. Leottau, Javier Ruiz-del-Solar, Patrick MacAlpine, and Peter Stone. A Study of Layered Learning Strategies Applied to Individual Behaviors in Robot Soccer. In Luis Almeida, Jianmin Ji, Gerald Steinbauer, and Sean Luke, editors, RoboCup-2015: Robot Soccer World Cup XIX, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2016.
Details BibTeX Download: [pdf] (625.8kB ) - Patrick MacAlpine, Josiah Hanna, Jason Liang, and Peter Stone. UT Austin Villa: RoboCup 2015 3D Simulation League Competition and Technical Challenges Champions. In Luis Almeida, Jianmin Ji, Gerald Steinbauer, and Sean Luke, editors, RoboCup-2015: Robot Soccer World Cup XIX, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2016.
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/#2015
Details BibTeX Download: [pdf] (790.2kB ) [ps] (7.2MB ) - Patrick MacAlpine, Elad Liebman, and Peter Stone. Adaptation of Surrogate Tasks for Bipedal Walk Optimization. In GECCO Surrogate-Assisted Evolutionary Optimisation (SAEOpt) Workshop, July 2016.
Details BibTeX Download: [pdf] (172.1kB ) [ps] (739.5kB ) - Mike Depinet, Patrick MacAlpine, and Peter Stone. Keyframe Sampling, Optimization, and Behavior Integration: Towards Long-Distance Kicking in the RoboCup 3D Simulation League. In Reinaldo A. C. Bianchi, H. Levent Akin, Subramanian Ramamoorthy, and Komei Sugiura, editors, RoboCup-2014: Robot Soccer World Cup XVIII, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2015.
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2014/html/learningFromObservation.html
Details BibTeX Download: [pdf] (905.3kB ) [ps] (42.3MB ) - Patrick MacAlpine, Mike Depinet, Jason Liang, and Peter Stone. UT Austin Villa: RoboCup 2014 3D Simulation League Competition and Technical Challenge Champions. In Reinaldo A. C. Bianchi, H. Levent Akin, Subramanian Ramamoorthy, and Komei Sugiura, editors, RoboCup-2014: Robot Soccer World Cup XVIII, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2015.
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/#2014
Details BibTeX Download: [pdf] (235.7kB ) [ps] (1.9MB ) - Patrick MacAlpine, Mike Depinet, and Peter Stone. UT Austin Villa 2014: RoboCup 3D Simulation League Champion via Overlapping Layered Learning. In Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI), pp. 2842–48, 4, January 2015.
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2014/html/overlappingLayeredLearning.html
Details BibTeX Download: [pdf] (714.7kB ) [ps] (2.5MB ) - Patrick MacAlpine, Eric Price, and Peter Stone. SCRAM: Scalable Collision-avoiding Role Assignment with Minimal-makespan for Formational Positioning. In Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI), January 2015.
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2013/html/scram.html
Details BibTeX Download: [pdf] (260.3kB ) [ps] (676.5kB ) - Patrick MacAlpine, Katie Genter, Samuel Barrett, and Peter Stone. The RoboCup 2013 Drop-In Player Challenges: Experiments in Ad Hoc Teamwork. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2014.
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2013/html/dropin.html
Details BibTeX Download: [pdf] (491.0kB ) [ps] (4.0MB ) - Samuel Barrett, Katie Genter, Yuchen He, Todd Hester, Piyush Khandelwal, Jacob Menashe, and Peter Stone. The 2012 UT Austin Villa Code Release. In RoboCup-2013: Robot Soccer World Cup XVII, Springer Verlag, 2013.
Details BibTeX Download: [pdf] (376.3kB ) [ps] (2.1MB ) - Alon Farchy, Samuel Barrett, Patrick MacAlpine, and Peter Stone. Humanoid Robots Learning to Walk Faster: From the Real World to Simulation and Back. In Proc. of 12th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS), May 2013.
The videos referenced in the paper: original and optimized.
Details BibTeX Download: [pdf] (486.2kB ) [ps] (36.5MB ) - Patrick MacAlpine, Nick Collins, Adrian Lopez-Mobilia, and Peter Stone. UT Austin Villa: RoboCup 2012 3D Simulation League Champion. In Xiaoping Chen, Peter Stone, Luis Enrique Sucar, and Tijn Van der Zant, editors, RoboCup-2012: Robot Soccer World Cup XVI, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2013.
Accompanying video at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2012/html/results_3d/#highlights
Details BibTeX Download: [pdf] (654.8kB ) [ps] (6.7MB ) - Patrick MacAlpine, Francisco Barrera, and Peter Stone. Positioning to Win: A Dynamic Role Assignment and FormationPositioning System. In Xiaoping Chen, Peter Stone, Luis Enrique Sucar, and Tijn Van der Zant, editors, RoboCup-2012: Robot Soccer World Cup XVI, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2013.
Accompanying video at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2011/html/positioning.html
Details BibTeX Download: [pdf] (255.9kB ) [ps] (722.6kB ) - Patrick MacAlpine, Elad Liebman, and Peter Stone. Simultaneous Learning and Reshaping of an Approximated Optimization Task. In AAMAS Adaptive Learning Agents (ALA) Workshop, May 2013.
Details BibTeX Download: [pdf] (435.1kB ) [ps] (2.1MB ) - Aijun Bai, Xiaoping Chen, Patrick MacAlpine, Daniel Urieli, Samuel Barrett, and Peter Stone. Wright Eagle and UT Austin Villa: RoboCup 2011 Simulation League Champions. In Thomas Roefer, Norbert Michael Mayer, Jesus Savage, and Uluc Saranli, editors, RoboCup-2011: Robot Soccer World Cup XV, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2012.
Details BibTeX Download: [pdf] (257.0kB ) [ps] (829.5kB ) - Patrick MacAlpine, Samuel Barrett, Daniel Urieli, Victor Vu, and Peter Stone. Design and Optimization of an Omnidirectional Humanoid Walk:A Winning Approach at the RoboCup 2011 3D Simulation Competition. In Proceedings of the Twenty-Sixth AAAI Conference on Artificial Intelligence (AAAI), July 2012.
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2011/html/walk.html
Details BibTeX Download: [pdf] (461.2kB ) [ps] (2.0MB ) - Patrick MacAlpine, Daniel Urieli, Samuel Barrett, Shivaram Kalyanakrishnan, Francisco Barrera, Adrian Lopez-Mobilia, Nicolae \cStiurc\ua, Victor Vu, and Peter Stone. UT Austin Villa 2011: A Champion Agent in the RoboCup 3D Soccer Simulation Competition. In Proc. of 11th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS), June 2012.
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2011/html/components.html
Details BibTeX Download: [pdf] (646.3kB ) [ps] (2.7MB ) - Patrick MacAlpine and Peter Stone. Using Dynamic Rewards to Learn a Fully Holonomic Bipedal Walk. In AAMAS Adaptive Learning Agents (ALA) Workshop, June 2012.
Video available at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2012/html/holonomicwalk.html
Details BibTeX Download: [pdf] (525.6kB ) [ps] (2.2MB ) - Patrick MacAlpine, Daniel Urieli, Samuel Barrett, Shivaram Kalyanakrishnan, Francisco Barrera, Adrian Lopez-Mobilia, Nicolae\cStiurc\ua, Victor Vu, and Peter Stone. UT Austin Villa 2011 3D Simulation Team Report. Technical Report AI11-10, The University of Texas at Austin, Department of Computer Science, AI Laboratory, 2011.
Details BibTeX Download: [pdf] (1.2MB ) [ps] (5.3MB ) - Daniel Urieli, Patrick MacAlpine, Shivaram Kalyanakrishnan, Yinon Bentor, and Peter Stone. On Optimizing Interdependent Skills: A Case Study in Simulated 3D Humanoid Robot Soccer. In Proc. of 10th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS), pp. 769–776, 2, IFAAMAS, May 2011.
Accompanying videos at http://www.cs.utexas.edu/ AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2010/html/skilloptimization2010.html
Details BibTeX Download: [pdf] (530.9kB ) [ps] (1.6MB ) - Shivaram Kalyanakrishnan, Todd Hester, Michael Quinlan, Yinon Bentor, and Peter Stone. Three Humanoid Soccer Platforms: Comparison and Synthesis. In Jacky Baltes, Michail G. Lagoudakis, Tadashi Naruse, and Saeed Shiry Ghidary, editors, RoboCup 2009: Robot Soccer World Cup XIII, pp. 140–152, Springer Verlag, 2010.
Details BibTeX Download: [pdf] (379.0kB ) [ps] (5.3MB ) - Shivaram Kalyanakrishnan, Yinon Bentor, and Peter Stone. The UT Austin Villa 3D Simulation Soccer Team 2008. Technical Report AI09-01, The University of Texas at Austin, Department of Computer Sciences, AI Laboratory, 2009.
Details BibTeX Download: [pdf] (292.6kB ) [ps] (983.9kB ) - Shivaram Kalyanakrishnan, Peter Stone, and Yaxin Liu. Model-based Reinforcement Learning in a Complex Domain. In Ubbo Visser, Fernando Ribeiro, Takeshi Ohashi, and Frank Dellaert, editors, RoboCup-2007: Robot Soccer World Cup XI, Lecture Notes in Artificial Intelligence, pp. 171–83, Springer Verlag, Berlin, 2008.
Details BibTeX Download: [pdf] (200.9kB ) [ps] (515.0kB ) - Shivaram Kalyanakrishnan, Yaxin Liu, and Peter Stone. Half Field Offense in RoboCup Soccer: A Multiagent Reinforcement Learning Case Study. In Gerhard Lakemeyer, Elizabeth Sklar, Domenico Sorenti, and Tomoichi Takahashi, editors, RoboCup-2006: Robot Soccer World Cup X, Lecture Notes in Artificial Intelligence, pp. 72–85, Springer Verlag, Berlin, 2007.
BEST STUDENT PAPER AWARD WINNER at RoboCup International Symposium.
Some simulations referenced in the paper.
Details BibTeX Download: [pdf] (992.2kB ) [ps] (1.6MB ) - Shivaram Kalyanakrishnan and Peter Stone. Batch Reinforcement Learning in a Complex Domain. In The Sixth International Joint Conference on Autonomous Agents and Multiagent Systems, pp. 650–657, ACM, New York, NY, USA, May 2007.
BEST PAPER AWARD NOMINEE.
AAMAS-2007
Details BibTeX Download: [pdf] (186.4kB ) [ps] (384.8kB ) - Shivaram Kalyanakrishnan and Peter Stone. The UT Austin Villa 3D Simulation Soccer Team 2007. Technical Report AI-07-348, The University of Texas at Austin, Department of Computer Sciences, AI Laboratory, 2007.
Supplementary resources at the UT Austin Villa 3D Simulation page.
Details BibTeX Download: [pdf] (273.4kB ) [ps] (5.7MB ) - Shimon Whiteson, Matthew E. Taylor, and Peter Stone. Empirical Studies in Action Selection for Reinforcement Learning. Adaptive Behavior, 15(1):33–50, March 2007.
Details BibTeX Download: [pdf] (828.6kB ) [ps] (1.5MB ) - Gregory Kuhlmann, William B. Knox, and Peter Stone. Know Thine Enemy: A Champion RoboCup Coach Agent. In Proceedings of the Twenty-First National Conference on Artificial Intelligence, pp. 1463–68, July 2006.
AAAI 2006
Details BibTeX Download: [pdf] (126.0kB ) [ps] (286.1kB ) - Peter Stone, Gregory Kuhlmann, Matthew E. Taylor, and Yaxin Liu. Keepaway Soccer: From Machine Learning Testbed to Benchmark. In Itsuki Noda, Adam Jacoff, Ansgar Bredenfeld, and Yasutake Takahashi, editors, RoboCup-2005: Robot Soccer World Cup IX, pp. 93–105, Springer Verlag, Berlin, 2006.
Some simulations of keepaway referenced in the paper and keepaway software.
Official version from Publisher's Webpage© Springer-Verlag
Details BibTeX Download: [pdf] (567.7kB ) [ps] (2.3MB ) - Matthew Taylor, Shimon Whiteson, and Peter Stone. Comparing Evolutionary and Temporal Difference Methods for Reinforcement Learning. In Proceedings of the Genetic and Evolutionary Computation Conference, pp. 1321–28, July 2006.
BEST PAPER AWARD at GECCO 2006
Details BibTeX Download: [pdf] (235.9kB ) [ps] (562.2kB ) - Gregory Kuhlmann, Peter Stone, and Justin Lallinger. The UT Austin Villa 2003 Champion Simulator Coach: A Machine Learning Approach. In Daniele Nardi, Martin Riedmiller, and Claude Sammut, editors, RoboCup-2004: Robot Soccer World Cup VIII, Lecture Notes in Artificial Intelligence, pp. 636–644, Springer Verlag, Berlin, 2005.
Official version from Publisher's Webpage© Springer-Verlag
Details BibTeX Download: [pdf] (112.7kB ) [ps] (287.8kB ) - Peter Stone, Richard S. Sutton, and Gregory Kuhlmann. Reinforcement Learning for RoboCup-Soccer Keepaway. Adaptive Behavior, 13(3):165–188, 2005.
Contains material that was previously published in an ICML-2001 paper and a RoboCup 2003 Symposium paper.
Some simulations of keepaway referenced in the paper and keepaway software.
Details BibTeX Download: [pdf] (1.2MB ) [ps] (2.0MB ) - Shimon Whiteson, Nate Kohl, Risto Miikkulainen, and Peter Stone. Evolving Keepaway Soccer Players through Task Decomposition. Machine Learning, 59(1):5–30, May 2005.
Some videos of the agents before and after learning referenced in the paper.
The publisher's official version
An earlier version appeared in the proceedings of The Genetic and Evolutionary Computation Conference 2003 (GECCO-2003)
Details BibTeX Download: [pdf] (278.8kB ) [ps] (566.8kB ) - Gregory Kuhlmann, Peter Stone, Raymond Mooney, and Jude Shavlik. Guiding a Reinforcement Learner with Natural Language Advice: Initial Results in RoboCup Soccer. In The AAAI-2004 Workshop on Supervisory Control of Learning and Adaptive Systems, July 2004.
Details BibTeX Download: [pdf] (170.3kB ) [ps] (498.2kB ) - Itsuki Noda and Peter Stone. The RoboCup Soccer Server and CMUnited Clients: Implemented Infrastructure for MAS Research. Autonomous Agents and Multi-Agent Systems, 7(1--2):101–120, July--September 2003.
Details BibTeX Download: [pdf] (271.2kB ) [ps] (459.0kB ) - Shimon Whiteson and Peter Stone. Concurrent Layered Learning. In Second International Joint Conference on Autonomous Agents and Multiagent Systems, pp. 193–200, ACM Press, New York, NY, July 2003.
AAMAS-2003
Details BibTeX Download: [pdf] (159.1kB ) [ps] (372.6kB )
Legged League
- Yifeng Zhu, Arisrei Lim, Peter Stone, and Yuke Zhu . Vision-based Manipulation from Single Human Video with Open-World Object Graphs. Autonomous Robots, 50(27), 2026.
Details BibTeX Download: [pdf] (4.8MB ) - Luisa Mao, Garrett Warnell, Peter Stone, and Joydeep Biswas. PACER: Preference-conditioned All-terrain Costmap Generation. Robotics and Automation Letters, 2025.
Details BibTeX Download: [pdf] (3.2MB ) - Michael J. Munje, Chen Tang, Shuijing Liu, Zichao Hu, Yifeng Zhu, Jiaxun Cui, Garrett Warnell, Joydeep Biswas, and Peter Stone. SocialNav-SUB: Benchmarking VLMs for Scene Understanding in Social Robot Navigation. In Conference on Robot Learning, September 2025.
Details BibTeX Download: [pdf] (22.5MB ) - Zifan Xu, Amir Hossain Raj, Xuesu Xiao, and Peter Stone. Dexterous Legged Locomotion in Confined 3D Spaces with Reinforcement Learning. In IEEE International Conference on Robotics and Automation, May 2024.
Details BibTeX Download: [pdf] (2.0MB ) - Elliott Hauser, Yao-Cheng Chan, Geethika Hemkumar, Daksh Dua, Parth Chonkar, Efren Mendoza Enriquez, Tiffany Kao, Shikhar Gupta, Huihai Wang, Justin Hart, Reuth Mirsky, Joydeep Biswas, Junfeng Jiao, and Peter Stone. "What's That Robot Doing Here?": Factors Influencing Perceptions Of Incidental Encounters With Autonomous Quadruped Robots. In Proceedings of the First International Symposium on Trustworthy Autonomous Systems (TAS '23), pp. 1–15, July 2023.
Available online at https://dl.acm.org/doi/10.1145/3597512.3599707
Details BibTeX Download: [HTML] - Haresh Karnan, Elvin Yang, Daniel Farkash, Garrett Warnell, Joydeep Biswas, and Peter Stone. STERLING: Self-Supervised Terrain Representation Learning from Unconstrained Robot Experience. In The Conference on Robot Learning (CoRL), November 2023.
Poster, Video, Project Website
Details BibTeX Download: [pdf] (25.7MB ) - Sai Kiran Narayanaswami, Mauricio Tec, Ishan Durugkar, Siddharth Desai, Bharath Masetty, Sanmit Narvekar, and Peter Stone. Towards a Real-Time, Low-Resource, End-to-end Object Detection Pipeline for Robot Soccer. In Amy Eguchi, Nuno Lau, Maike Paetzel-Prussman, and Thanapat Wanichanon, editors, RoboCup 2022: Robot World Cup XXV, pp. 62–74, Springer International Publishing, 2023.
The book
Details BibTeX Download: [pdf] (572.2kB ) - Shravan Ravi, Gary Wang, Shreyas Satewar, Xuesu Xiao, Garrett Warnell, Joydeep Biswas, and Peter Stone. Visually Adaptive Geometric Navigation. In IEEE International Symposium on Safety,Security,and Rescue Robotics, November 2023.
Details BibTeX Download: [pdf] (4.8MB ) - Yifeng Zhu, Zhenyu Jiang, Peter Stone, and Yuke Zhu. Learning Generalizable Manipulation Policies with Object-Centric 3D Representations. In Conference on Robot Learning (CoRL), November 2023.
Details BibTeX Download: [pdf] (7.3MB ) - Haresh Karnan, Anirudh Nair, Xuesu Xiao, Garrett Warnell, Soren Pirk, Alexander Toshev, Justin Hart, Joydeep Biswas, and Peter Stone. Socially CompliAnt Navigation Dataset (SCAND): A Large-Scale Dataset Of Demonstrations For Social Navigation. Robotics and Automation Letters (RA-L), 2022, 7:11807–14, October 2022.
Dataset; Poster; Video Presentation
Details BibTeX Download: [pdf] (4.2MB ) - Haresh Karnan, Kavan Sikand, Pranav Atreya, Sadegh Rabiee, Xuesu Xiao, Garrett Warnell, Peter Stone, and Joydeep Biswas. VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics. In International Conference on Intelligent Robots and Systems, 2022, October 2022.
Details BibTeX Download: [pdf] (3.0MB ) - Haresh Karnan, Garrett Warnell, Xuesu Xiao, and Peter Stone. VOILA: Visual-Observation-Only Imitation Learning for Autonomous Navigation. In International Conference on Robotics and Automation, 2022, May 2022.
Poster, Video
Details BibTeX Download: [pdf] (1.5MB ) - Haresh Karnan, Garrett Warnell, Faraz Torabi, and Peter Stone. Adversarial Imitation Learning from Video using a State Observer. In International Conference on Robotics and Automation, 2022, May 2022.
Video
Details BibTeX Download: [pdf] (933.2kB ) - Aishwarya Padmakumar, Peter Stone, and Raymond J. Mooney. Learning a Policy for Opportunistic Active Learning. In Proceedings of the Conference on Empirical Methods in Natural Language Processing (EMNLP-18), Brussels, Belgium, November 2018.
Details BibTeX Download: [pdf] (394.3kB ) - Ilaria Gori, Jivko Sinapov, Priyanka Khante, Peter Stone, and J.K. Aggarwal. Robot-centric Activity Recognition 'in the Wild'. In Proceedings of the International Conference on Social Robotics (ICSR), October 2015.
Details BibTeX Download: [pdf] (361.3kB ) - Matthew Hausknecht and Peter Stone. Learning Powerful Kicks on the Aibo ERS-7: The Quest for a Striker. In Javier Ruiz-del-Solar, Eric Chown, and Paul G. Plöger, editors, RoboCup-2010: Robot Soccer World Cup XIV, Lecture Notes in Artificial Intelligence, pp. 254–65, Springer Verlag, Berlin, 2011.
Video and source code available at http://www.cs.utexas.edu/ AustinVilla/?p=research/aibo_kick
Details BibTeX Download: [pdf] (324.4kB ) [ps] (2.8MB ) - Adam Setapen, Michael Quinlan, and Peter Stone. MARIOnET: Motion Acquisition for Robots through Iterative Online Evaluative Training. In Ninth International Conference on Autonomous Agents and Multiagent Systems - Agents Learning Interactively from Human Teachers Workshop (AAMAS - ALIHT), May 2010.
supplemental video cited in the paper.
Details BibTeX Download: [pdf] (533.2kB ) [ps] (9.7MB ) - Mohan Sridharan and Peter Stone. Color Learning and Illumination Invariance on Mobile Robots: A Survey. Robotics and Autonomous Systems (RAS) Journal, 57(60-7):629–44, June 2009.
Details BibTeX Download: [pdf] (1.3MB ) [ps] (6.0MB ) - Mazda Ahmadi and Peter Stone. Instance-Based Action Models for Fast Action Planning. In Ubbo Visser, Fernando Ribeiro, Takeshi Ohashi, and Frank Dellaert, editors, RoboCup-2007: Robot Soccer World Cup XI, Lecture Notes in Artificial Intelligence, pp. 1–16, Springer Verlag, Berlin, 2008.
BEST PAPER AWARD WINNER at RoboCup International Symposium.
Official version from Publisher's Webpage© Springer-Verlag
Details BibTeX Download: [pdf] (466.3kB ) [ps] (3.0MB ) - Uli Grasemann, Daniel Stronger, and Peter Stone. A Neural Network-Based Approach to Robot Motion Control. In Ubbo Visser, Fernando Ribeiro, Takeshi Ohashi, and Frank Dellaert, editors, RoboCup-2007: Robot Soccer World Cup XI, Lecture Notes in Artificial Intelligence, pp. 480–87, Springer Verlag, Berlin, 2008.
Details BibTeX Download: [pdf] (280.9kB ) [ps] (1.6MB ) - Peggy Fidelman and Peter Stone. The Chin Pinch: A Case Study in Skill Learning on a Legged Robot. In Gerhard Lakemeyer, Elizabeth Sklar, Domenico Sorenti, and Tomoichi Takahashi, editors, RoboCup-2006: Robot Soccer World Cup X, Lecture Notes in Artificial Intelligence, pp. 59–71, Springer Verlag, Berlin, 2007.
Some videos referenced in the paper.
Details BibTeX Download: [pdf] (186.9kB ) [ps] (1.6MB ) - Manish Saggar, Thomas D'Silva, Nate Kohl, and Peter Stone. Autonomous Learning of Stable Quadruped Locomotion. In Gerhard Lakemeyer, Elizabeth Sklar, Domenico Sorenti, and Tomoichi Takahashi, editors, RoboCup-2006: Robot Soccer World Cup X, Lecture Notes in Artificial Intelligence, pp. 98–109, Springer Verlag, Berlin, 2007.
BEST PAPER AWARD NOMINEE at RoboCup International Symposium.
Some videos referenced in the paper.
Details BibTeX Download: [pdf] (1.1MB ) [ps] (26.8MB ) - Mohan Sridharan and Peter Stone. Structure Based Color Learning on a Mobile Robot under Changing Illumination. Autonomous Robots, 23(3):161–182, 2007.
Official versionfrom the Autonomous Robots publisher's webpage.
Details BibTeX Download: [pdf] (2.0MB ) [ps] (8.6MB ) - Mohan Sridharan and Peter Stone. Planning Actions to Enable Color Learning on a Mobile Robot. International Journal of Information and Systems Sciences, 3(3):510–25, 2007.
official published version
Details BibTeX Download: (unavailable) - Mohan Sridharan and Peter Stone. Action Selection for Illumination Invariant Color Learning. In The IEEE International Conference on Intelligent Robots and Systems (IROS), 2007.
Details BibTeX Download: [pdf] (176.5kB ) [ps] (490.5kB ) - Mohan Sridharan and Peter Stone. Color Learning on a Mobile Robot: Towards Full Autonomy under Changing Illumination. In The 20th International Joint Conference on Artificial Intelligence, pp. 2212–2217, January 2007.
IJCAI-07
Details BibTeX Download: [pdf] (129.5kB ) [ps] (184.9kB ) - Peter Stone. Intelligent Autonomous Robotics: A Robot Soccer Case Study, Synthesis Lectures on Artificial Intelligence and Machine Learning, Morgan & Claypool Publishers, 2007.
Available from Synthesis page.
ISBN: 9781598291262
Details BibTeX Download: (unavailable) - Daniel Stronger and Peter Stone. Selective Visual Attention for Object Detection on a Legged Robot. In Gerhard Lakemeyer, Elizabeth Sklar, Domenico Sorenti, and Tomoichi Takahashi, editors, RoboCup-2006: Robot Soccer World Cup X, Lecture Notes in Artificial Intelligence, pp. 158–170, Springer Verlag, Berlin, 2007.
Some videos referenced in the paper.
Details BibTeX Download: [pdf] (159.7kB ) [ps] (342.4kB ) - Mohan Sridharan and Peter Stone. Autonomous Planned Color Learning on a Mobile Robot Without Labeled Data. In The Ninth International Conference on Control, Automation, Robotics and Vision, December 2006.
ICARCV 2006
Details BibTeX Download: [pdf] (444.1kB ) [ps] (2.3MB ) - Peter Stone, Peggy Fidelman, Nate Kohl, Gregory Kuhlmann, Tekin Mericli, Mohan Sridharan, and Shao-en Yu. The UT Austin Villa 2006 RoboCup Four-Legged Team. Technical Report UT-AI-TR-06-337, The University of Texas at Austin, Department of Computer Sciences, AI Laboratory, 2006.
At http://www.cs.utexas.edu/ftp/pub/AI-Lab/index/html/Abstracts.2006.html#06-337
Details BibTeX Download: [pdf] (123.7kB ) [ps] (127.2kB ) - Mohan Sridharan, Gregory Kuhlmann, and Peter Stone. Practical Vision-Based Monte Carlo Localization on a Legged Robot. In IEEE International Conference on Robotics and Automation, April 2005.
ICRA 2005
Details BibTeX Download: [pdf] (217.6kB ) [ps] (2.0MB ) - Mohan Sridharan and Peter Stone. Towards Illumination Invariance in the Legged League. In Daniele Nardi, Martin Riedmiller, and Claude Sammut, editors, RoboCup-2004: Robot Soccer World Cup VIII, Lecture Notes in Artificial Intelligence, pp. 196–208, Springer Verlag, Berlin, 2005.
Some videos of robots referenced in the paper.
Official version from Publisher's Webpage© Springer-Verlag
Details BibTeX Download: [pdf] (245.1kB ) [ps] (2.1MB ) - Mohan Sridharan and Peter Stone. Autonomous Color Learning on a Mobile Robot. In Proceedings of the Twentieth National Conference on Artificial Intelligence, July 2005.
Some videos of the robot referenced in the paper.
AAAI 2005
Details BibTeX Download: [pdf] (901.5kB ) [ps] (6.4MB ) - Mohan Sridharan and Peter Stone. Real-Time Vision on a Mobile Robot Platform. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), August 2005.
Some videos of the robot referenced in the paper.
IROS-2005
Details BibTeX Download: [pdf] (396.1kB ) [ps] (5.0MB ) - Peter Stone, Kurt Dresner, Peggy Fidelman, Nate Kohl, Gregory Kuhlmann, Mohan Sridharan, and Daniel Stronger. The UT Austin Villa 2005 RoboCup Four-Legged Team. Technical Report UT-AI-TR-05-325, The University of Texas at Austin, Department of Computer Sciences, AI Laboratory, 2005.
At http://www.cs.utexas.edu/ftp/pub/AI-Lab/index/html/Abstracts.2005.html#05-325
Details BibTeX Download: [pdf] (186.2kB ) [ps] (243.4kB ) - Nate Kohl and Peter Stone. Machine Learning for Fast Quadrupedal Locomotion. In The Nineteenth National Conference on Artificial Intelligence, pp. 611–616, July 2004.
Some videos of walking robots referenced in the paper.
AAAI 2004
Details BibTeX Download: [pdf] (210.0kB ) [ps] (1.4MB ) - Nate Kohl and Peter Stone. Policy Gradient Reinforcement Learning for Fast Quadrupedal Locomotion. In Proceedings of the IEEE International Conference on Robotics and Automation, May 2004.
Some videos of walking robots referenced in the paper.
ICRA 2004
Details BibTeX Download: [pdf] (301.5kB ) [ps] (3.2MB ) - Peter Stone, Kurt Dresner, Peggy Fidelman, Nicholas K. Jong, Nate Kohl, Gregory Kuhlmann, Mohan Sridharan, and Daniel Stronger. The UT Austin Villa 2004 RoboCup Four-Legged Team: Coming of Age. Technical Report UT-AI-TR-04-313, The University of Texas at Austin, Department of Computer Sciences, AI Laboratory, 2004.
At http://www.cs.utexas.edu/ftp/pub/AI-Lab/index/html/Abstracts.2004.html#04-313
Details BibTeX Download: [pdf] (555.3kB ) [ps] (1.6MB ) - Peter Stone, Kurt Dresner, Selim T. Erdo\ugan, Peggy Fidelman, Nicholas K. Jong, Nate Kohl, Gregory Kuhlmann, Ellie Lin, Mohan Sridharan, Daniel Stronger, and Gurushyam Hariharan. The UT Austin Villa 2003 Four-Legged Team. In Daniel Polani, Brett Browning, Andrea Bonarini, and Kazuo Yoshida, editors, RoboCup-2003: Robot Soccer World Cup VII, Springer Verlag, Berlin, 2004.
Extended version (technical report with full details: "UT Austin Villa 2003: A New RoboCup Four-Legged Team").
Details BibTeX Download: [pdf] (201.5kB ) [ps] (170.3kB )
@Home League
- Juhyun Lee, W. Bradley Knox, and Peter Stone. Inter-Classifier Feedback for Human-Robot Interaction in a Domestic Setting. Journal of Physical Agents, 2(2):41–50, July 2008. Special Issue on Human Interaction with Domestic Robots
Available from journal's web page.
Details BibTeX Download: [pdf] (2.4MB ) [ps] (3.4MB )
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