Change Log 2025¶
Perception¶
Referee Gesture Detection¶
We now use a self-trained model for referee gesture recognition, replacing Google's MoveNet (see this section).
Behavior Control¶
Determine Executing Team during Free Kick¶
We determine who the executing team during a corner or goal kick is by looking at the current ball position. For example if the ball is placed inside our own half during a corner kick, it is the opponent's corner kick.
When a foul occurs, the robots are notified which robot has received a time penalty. It is checked whether any of our own robots has received such a time penalty. If so, it is assumed that the penalty kick is awarded to the opponent. Otherwise it must be for our own team.
These methods let us skip the detection of referee gestures in these specific cases.
Ball Search¶
To find the ball more quickly whenever its position is unknown, a new ball search was implemented.
Indirect Kick¶
We used the same module to handle the indirect kick state as last year (see B-Human Documentation 2024) and extended it to cover additional situations. The module now allows a direct kick if the opponent fails to take their free kick. It automatically resets once the ball starts moving or after a 10-second timeout.
Motion Control¶
We added support to start kicks faster for competition games to allow for faster ball playing in duels and goal shots.
Tools¶
SimRobot with MuJoCo¶
For the dynamic libary SimRobotCore2 we changed the backend for the physic simulation from ODE to MuJoCo version 3.3.5.