Change Log 2026

Getting Started

The B-Human Code Release 2026 only supports the robot platforms Booster K1 and T1. The support for the Aldebaran NAO was removed. In addition, the support for macOS on x86 and Rosetta 2 was removed as well.

Perception

Robot and Ball Detection

A YOLOX network was trained to detect balls and robots. It runs at 60 Hz (see this section).

Behavior Control

Wireless Emergency Button

During development and practice matches, a wireless emergency switch built into our router can halt the robots at any time (see this section).

Team Communication

We adjusted our communication to send in regular intervals due to the higher message budget in the Humanoid Soccer League (see this section).

Double Touch Rule

To prevent illegal double touches after an own free kick, we added a large time penalty for the robot kicking the ball, ensuring another robot will become the striker to play the ball. This penalty is only active for a few seconds.

Strategies

By 2026, varying team sizes became standard at RoboCup events, with most matches featuring 3 vs. 3 robots and some using 5 vs. 5. We chose one approach for both setups, built for five players yet effective with fewer. For an 11 vs. 11 demonstration game, we created a distinct strategy.

Position / Role Assignment

For the 11 vs. 11 demonstration game, we needed a more efficient algorithm for assigning players to positions, because the initial approach was too slow to place ten field players in real time.

Motion Control

We replaced all motions (walking, kicking, standing up) with reinforcement learning policies (see this section and this section).