Leaderboard Challenges 2025¶
"To motivate teams to improve in specific areas deemed valuable by the league" the SPL introduced several challenges (see [here] (https://spl.robocup.org/wp-content/uploads/SPL-Leaderboards-2025.pdf)). These challenges include running, passing, dribbling and shooting. By completing specific tasks or courses, the teams are expected to demonstrate the progress they have made in these disciplines. The following sections describe the individual challenges and our approach to solving them.
Fastest Walk Leaderboard¶
In the 'Fastest Walk Leaderboard' challenge, the speed at which an NAO robot can autonomously navigate across half of a standard SPL field is evaluated, both on an open straight path and on a course with static obstacles. Four inactive robots positioned around the penalty area serve as these obstacles, requiring the active robot to weave around them using specified sides before reaching the target touchline on the opposite side of the field. Each attempt consists of two runs, one with obstacles and one without, which can be completed in any order, but no code changes are permitted during the attempt. The fastest times from both runs are added together and recorded on the leaderboard.
The foot bumper is used to switch between forward and slalom modes when in the penalised state. In forward mode, the robot simply walks across the field using the WalkToPoint skill. In slalom mode, the obstacle positions are hardcoded and the robot uses the WalkToPoint skill again to reach the other side of the field. To enforce the required path, the PathPlannerProvider includes imaginary barriers, ensuring that the robot always passes the obstacles on the correct predefined side. Consequently, only one side of each obstacle is open, forcing the robot to complete the slalom course correctly.
Ball Control Leaderboard¶
The “Ball Control Leaderboard” challenge tests how well a NAO robot can maintain control of a ball while dribbling it across half of a standard SPL field toward a target line. Again four inactive robots are positioned as obstacles around the penalty area, and the active robot must navigate around them while keeping the ball within 75 cm. If the ball strays too far or touches an obstacle, a 30-second penalty is added. The best completion time is recorded on the leaderboard.
The overall procedure for the Ball Control Leaderboard is similar to the slalom run in the Fastest Walk challenge. However, as the ball must be kept under control and not played into the obstacles, the walking behaviour has been adjusted slightly. Multiple target points are defined for each obstacle, enabling the robot to take wider curves around them. This prevents sharp directional changes and makes guiding the ball safely easier.
The dribbling itself is executed using the GoToBallAndKick skill, which gently propels the ball towards the next target point with minimal force. To reduce the risk of hitting the ball too hard while it is rolling, the robot keeps its distance and approaches using the WalkToPoint skill. If the ball is lost from view, the DemoSearchForBall skill is triggered, enabling the robot to rotate on the spot until the ball is found again.
Once the final obstacle has been bypassed, the robot switches to the GoToBallAndDribble skill to move the ball across the target touchline. To ensure that both the ball and the robot cross the line, the WalkToPoint skill is used once the ball has fully passed the line.
Best Kick Leaderboard¶
The "Best Kick Leaderboard" challenge assesses the power and precision of a NAO robot's kick using a standard SPL football. Starting on the goal line, the robot faces a ball placed at the edge of the goal area and attempts kicks towards three targets: the centre circle mark, the penalty mark on the opposite side and a corner of the opposite side of the field. Once the ball has clearly moved, it may not be touched again, and the attempt ends when the ball stops. At this point, the distance to the target is measured. The best result for each target is combined to determine the leaderboard score.
For the Best Kick Leaderboard, the desired target is selected using the foot bumper before each attempt. The forwardFastRightLong and forwardFastRightPass kicks are used as these have proven to be the most accurate for the required distances. The GoToBallAndKick skill then handles the execution, guiding the robot from its starting position on the goal line directly to the ball before performing the selected kick.
Most Passes Leaderboard¶
The "Most Passes Leaderboard" challenge measures how many accurate passes a team of two NAO robots can complete within a set time, showcasing "accuracy, speed and coordination". The robots start on opposite touchlines, in line with the penalty mark, while the ball is placed at the corner of the penalty area. Teams then have up to 180 seconds to move the ball into the target area, making as many passes as possible across the central exclusion zone — an area that the robots cannot enter. Each time the ball crosses this zone, one point is awarded, with an additional point given if the ball comes to rest within a defined arc in front of the receiving robot. A run ends if the exclusion zone is violated or if the ball stops inside it. A time bonus is added to the passing points based on how much time remains when the challenge ends, and the best final score is recorded on the leaderboard.
The attempt begins with the ball is first moved from the own penalty area toward the opponent’s half. In the middle of the opponent’s half, continuous passing takes place until shortly before the end of the attempt. Only in the final 30 seconds does the robot finish the run by dribbling into the penalty area. This approach ensures that most of the available time is used for passing, significantly increasing the overall score.
The procedure is clearly structured: At the beginning, it is checked whether the ball is located on the robots’s own side of the field.
Depending on the situation, the robot either positions itself directly at the ball or waits for the next pass.
The two robots take on fixed roles – a ball carrier, who executes the pass, and a receiver, who positions itself to receive the ball.
After each successful pass, the roles are exchanged so that both robots remain actively involved.
For each robot, seven target points are defined, enabling a steady advance into the opponent’s half.
This creates a slightly diagonal passing pattern that steadily moves the ball forward.
After every pass, the robot moves to its next position using the WalkToPoint skill.
The passes themselves are executed with the ForwardFast kick, which is highly accurate over medium distances.
Error handling is an integral part of the strategy.
If the ball is no longer visible, the robots use the DemoSearchForBall skill, rotating in place to quickly locate it again.
If the ball goes out of bounds, it is placed back on the touchline where it crossed, allowing the passing sequence to continue with minimal time loss.
In the event of missed passes or unfavorable ball positions, the robots reposition themselves towards the ball before using the next target points to maintain the flow of play.
Time management plays an important role: Around 30 seconds before the attempt ends, the GoToBallAndDribble skill is activated.
The robot currently in possession then dribbles the ball into the opponent’s penalty area to finish the attempt successfully.
SimRobot Scenes¶
There are scenes for every leaderboard challenge located in Config/Scenes/OtherScenes:
FastestWalkLeaderboard.ros2BallControlLeaderboard.ros2BestKickLeaderboard.ros2MostPassesLeaderboard.ros2
Results¶
Across the four leaderboard challenges, B-Human achieved strong overall performance. In the Fastest Walk Leaderboard, the robot completed the open field run in 20 seconds and the obstacle run in 52 seconds, securing first place. In the Ball Control Leaderboard, the robot achieved a total of 186 points within 156 seconds, but a 30-point penalty led to a final second-place result. For the Best Kick Leaderboard, the robot reached 9 cm from the center circle mark, 130 cm from the opponent’s penalty mark, and 260 cm from the opponent’s corner target, which was enough to win the challenge. Finally, in the Most Passes Leaderboard, the robot pair successfully scored 17.94 points, also resulting in first place.
With three victories and one second place, the overall results demonstrate both consistency and competitiveness across all challenges.