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Commits on May 14, 2025

• Include game-play video links for Emergent Coordination through Competition.

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  liusiqi43

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Commits on Dec 1, 2023

• Adjust imports to match google-internal code and open source code.

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  nimrod-gileadi

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Commits on May 2, 2023

• Silence some pytype errors.

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  rchen152

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Commits on Oct 6, 2022

• Dynamically allocate `contact` and `efc_` arrays on a new memory arena.

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  saran-t

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Commits on May 27, 2022

• Expose egocentric sensors on other players.

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  erez-tom

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Commits on May 3, 2022

• Switch egocentric computations from numpy to MuJoCo sensors.

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  erez-tom

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Commits on Apr 5, 2022

• Fix typo in comment.

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  erez-tom

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Commits on Apr 3, 2022

• Accept sign-flipped observations as equal.

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  erez-tom

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  copybara-github

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Commits on Jun 1, 2021

• Update soccer submodule README.md to reflect the new environment options.

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  liusiqi43

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  copybara-github

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Commits on May 21, 2021

• Use CMUMocapInitializer for humanoid walkers in soccer by default.

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  liusiqi43

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  copybara-github

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Commits on May 12, 2021

• Introduce factory method with the option to use humanoids.

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  liusiqi43

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  copybara-github

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  cd340e7

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• Introduce Humanoid walker type to soccer.

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  liusiqi43

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  copybara-github

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• Introduce a `multiturn` variant of the task.

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  liusiqi43

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  copybara-github

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Commits on Mar 26, 2021

• Introduce 5v5 regulation sized pitch.

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  liusiqi43

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  copybara-github

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Commits on Mar 24, 2021

• Introduce regulation soccer ball parameters and constructors.

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  liusiqi43

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Commits on Jan 14, 2021

• Reduce top_dowm camera z to avoid clipping out the field plane.

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  liusiqi43

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Commits on Nov 27, 2020

• Cleanup: use Python 3-style `super()` everywhere

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  alimuldal

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  copybara-github

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• Cleanup: remove unnecessary subclassing of `object`

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  alimuldal

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  copybara-github

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Commits on Nov 26, 2020

• Cleanup: remove dependency on `six`

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  alimuldal

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Commits on Nov 25, 2020

• Cleanup: remove some trivial uses of `six`

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  alimuldal

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Commits on Nov 24, 2020

• Cleanup: bulk-remove unnecessary __future__ imports, fix misc lint errors

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  alimuldal

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  saran-t

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Commits on Oct 15, 2020

• Set `extent` and the near and far clipping planes to better values.

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  yuvaltassa

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Commits on Sep 25, 2020

• Generalize ball initializer.

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  DeepMind

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  alimuldal

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Commits on May 20, 2020

• Slight repositioning of corner lights to minimise goalpost shadows on the pitch.

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  DeepMind

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  alimuldal

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• Replace fieldbox planes with boxes to allow scoring through a hole in the fieldbox behind the goals.

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  DeepMind

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  alimuldal

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• Adding hoarding to the soccer pitch.

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  DeepMind

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  alimuldal

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• Support contact avoidance in the uniform initializer.

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  liusiqi43

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  alimuldal

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Commits on May 4, 2020

• Add an option for the PositionDetector to retain detections over entire control steps, and modify soccer's Goal class to use this behaviour.

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  saran-t

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  alimuldal

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• Make lines on the soccer pitch texture to be consistent with 'no-logo' version.

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  DeepMind

  authored and

  alimuldal

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Commits on Apr 28, 2020

• Remove erroneous python3 linter directives

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  alimuldal

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  copybara-github

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Commits on Apr 24, 2020

• Add corner lighting to pitch, increase shadow resolution, restore headlight strength to default.

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  yuvaltassa

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  copybara-github

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Commits on Apr 23, 2020

• Make fieldbox offset configurable.

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  DeepMind

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  copybara-github

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Commits on Apr 22, 2020

• Make field invisible, resize ground plane visual to field size and give it the field texture, add non-colliding planes to visualise the perimeter.

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  yuvaltassa

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  copybara-github

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Commits on Apr 20, 2020

• Replace PositionDetector with Goal subclass for soccer pitch.

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  yuvaltassa

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  copybara-github

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Commits on Apr 16, 2020

• Update Soccer environment to work with ant body.

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  liusiqi43

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  copybara-github

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  187a8e2

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