{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,21]],"date-time":"2026-03-21T14:26:50Z","timestamp":1774103210634,"version":"3.50.1"},"reference-count":46,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2021,5,12]],"date-time":"2021-05-12T00:00:00Z","timestamp":1620777600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,5,12]],"date-time":"2021-05-12T00:00:00Z","timestamp":1620777600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"name":"FCT - Foundation for Science and Technology","award":["SFRH\/BD\/139926\/2018"],"award-info":[{"award-number":["SFRH\/BD\/139926\/2018"]}]},{"name":"FCT - Foundation for Science and Technology","award":["UIDB\/00027\/2020"],"award-info":[{"award-number":["UIDB\/00027\/2020"]}]},{"name":"FCT - Foundation for Science and Technology","award":["UIDB\/00127\/2020"],"award-info":[{"award-number":["UIDB\/00127\/2020"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2021,6]]},"DOI":"10.1007\/s10846-021-01385-3","type":"journal-article","created":{"date-parts":[[2021,5,12]],"date-time":"2021-05-12T15:05:15Z","timestamp":1620831915000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["6D Localization and Kicking for Humanoid Robotic Soccer"],"prefix":"10.1007","volume":"102","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6342-2054","authenticated-orcid":false,"given":"Miguel","family":"Abreu","sequence":"first","affiliation":[]},{"given":"Tiago","family":"Silva","sequence":"additional","affiliation":[]},{"given":"Henrique","family":"Teixeira","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4709-1718","authenticated-orcid":false,"given":"Lu\u00eds Paulo","family":"Reis","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0513-158X","authenticated-orcid":false,"given":"Nuno","family":"Lau","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,5,12]]},"reference":[{"key":"1385_CR1","unstructured":"Abadi, M., Agarwal, A., Barham, P., Brevdo, E., Chen, Z., Citro, C., Corrado, G.S., Davis, A., Dean, J., Devin, M., Ghemawat, S., Goodfellow, I., Harp, A., Irving, G., Isard, M., Jia, Y., Jozefowicz, R., Kaiser, L., Kudlur, M., Levenberg, J., Man\u00e9, D., Monga, R., Moore, S., Murray, D., Olah, C., Schuster, M., Shlens, J., Steiner, B., Sutskever, I., Talwar, K., Tucker, P., Vanhoucke, V., Vasudevan, V., Vi\u00e9gas, F., Vinyals, O., Warden, P., Wattenberg, M., Wicke, M., Yu, Y., Zheng, X.: TensorFlow: Large-scale machine learning on heterogeneous systems. https:\/\/www.tensorflow.org\/(2015)"},{"key":"1385_CR2","doi-asserted-by":"crossref","unstructured":"Abdolmaleki, A., Sim\u00f5es, D., Lau, N., Reis, L. P., Neumann, G., Sar\u0131el, S., Lee, D.D.: Learning a Humanoid Kick with Controlled Distance. In: Behnke, S., Sheh, R. (eds.) Robocup 2016: Robot world cup XX, 45\u201357. Springer International Publishing, Cham (2017)","DOI":"10.1007\/978-3-319-68792-6_4"},{"key":"1385_CR3","doi-asserted-by":"crossref","unstructured":"Abreu, M., Reis, L.P., Lau, N.: Learning to Run Faster in a Humanoid Robot Soccer Environment through Reinforcement Learning. In: Chalup, S., Niemueller, T., Suthakorn, J., Williams, M.A. (eds.) Robocup 2019: Robot World Cup XXIII, 3-15. Springer International Publishing, Cham (2019)","DOI":"10.1007\/978-3-030-35699-6_1"},{"key":"1385_CR4","unstructured":"Boedecker, J., Asada, M.: Simspark\u2013concepts and application in the robocup 3d soccer simulation league SIMPAR-2008 Workshop on The Universe of RoboCup Simulators (2008)"},{"issue":"Oct","key":"1385_CR5","first-page":"213","volume":"3","author":"RI Brafman","year":"2002","unstructured":"Brafman, R. I., Tennenholtz, M.: R-MAX \u2013 a general polynomial time algorithm for near-optimal reinforcement learning. J. Mach. Learn. Res. 3(Oct), 213\u2013231 (2002)","journal-title":"J. Mach. Learn. Res."},{"key":"1385_CR6","unstructured":"Brockman, G., Cheung, V., Pettersson, L., Schneider, J., Schulman, J., Tang, J., Zaremba, W.: Openai gym (2016)"},{"key":"1385_CR7","unstructured":"Bustamante, C.: Probabilistic agent localization and Fuzzy-Bayesian pass evaluation for the RoboCup simulation 3D league. Master\u2019s Thesis, Tecnol\u00f3gico De Monterrey, Monterrey, Mexico (2007)"},{"key":"1385_CR8","doi-asserted-by":"crossref","unstructured":"Coulom, R.: Clop: Confident Local Optimization for Noisy Black-Box Parameter Tuning. In: Advances in Computer Games, pp. 146\u2013157. Springer (2011)","DOI":"10.1007\/978-3-642-31866-5_13"},{"key":"1385_CR9","unstructured":"Dhariwal, P., Hesse, C., Klimov, O., Nichol, A., Plappert, M., Radford, A., Schulman, J., Sidor, S., Wu, Y., Zhokhov, P.: Openai baselines https:\/\/github.com\/openai\/baselines (2017)"},{"key":"1385_CR10","unstructured":"Documentation, A.: NAO - actuator & sensor list. http:\/\/doc.aldebaran.com\/2-1\/family\/nao_dcm\/actuator_sensor_names.html"},{"key":"1385_CR11","doi-asserted-by":"crossref","unstructured":"Dorer, K.: Learning to Use Toes in a Humanoid Robot. In: Akiyama, H., Obst, O., Sammut, C., Tonidandel, F. (eds.) Robocup 2017: Robot World Cup XXI, 168\u2013179. Springer International Publishing, Cham (2018)","DOI":"10.1007\/978-3-030-00308-1_14"},{"key":"1385_CR12","doi-asserted-by":"crossref","unstructured":"Ferreira, R., Reis, L.P., Moreira, A.P., Lau, N.: Development of an Omnidirectional Kick for a NAO Humanoid Robot. In: Pav\u00f3n, J., Duque-M\u00e9ndez, N.D., Fuentes-Fern\u00e1ndez, R. (eds.) Advances in Artificial Intelligence \u2013 IBERAMIA 2012, 571\u2013580. Springer Berlin Heidelberg, Berlin, Heidelberg (2012)","DOI":"10.1007\/978-3-642-34654-5_58"},{"issue":"6","key":"1385_CR13","doi-asserted-by":"publisher","first-page":"883","DOI":"10.1137\/0717073","volume":"17","author":"GH Golub","year":"1980","unstructured":"Golub, G.H., Van Loan, C.F.: An analysis of the total least squares problem. SIAM J. Num. Anal. 17(6), 883\u2013893 (1980)","journal-title":"SIAM J. Num. Anal."},{"key":"1385_CR14","unstructured":"Haarnoja, T., Zhou, A., Abbeel, P., Levine, S.: Soft actor-critic: Off-policy maximum entropy deep reinforcement learning with a stochastic actor. In: Dy, J., Krause, A. (eds.) Proceedings of the 35th International Conference on Machine Learning, Proceedings of Machine Learning Research, vol. 80, pp. 1861\u20131870. PMLR, Stockholmsm\u00e4ssan, Stockholm Sweden (2018)"},{"key":"1385_CR15","unstructured":"Haarnoja, T., Zhou, A., Hartikainen, K., Tucker, G., Ha, S., Tan, J., Kumar, V., Zhu, H., Gupta, A., Abbeel, P., Levine, S.: Soft actor-critic algorithms and applications. arXiv:1812.05905 (2018)"},{"key":"1385_CR16","doi-asserted-by":"crossref","unstructured":"Hao, Y., Liang, Z., Liu, J., Li, J., Zhao, H.: The Framework Design of Humanoid Robots in the RoboCup 3D Soccer Simulation Competition. In: 2013 10Th IEEE International conference on control and automation (ICCA), pp. 1423\u20131428. IEEE (2013)","DOI":"10.1109\/ICCA.2013.6564874"},{"key":"1385_CR17","doi-asserted-by":"crossref","unstructured":"Hester, T., Quinlan, M., Stone, P.: Generalized Model Learning for Reinforcement Learning on a Humanoid Robot. In: 2010 IEEE International Conference on Robotics and Automation, pp. 2369\u20132374. IEEE (2010)","DOI":"10.1109\/ROBOT.2010.5509181"},{"key":"1385_CR18","doi-asserted-by":"crossref","unstructured":"Hester, T., Stone, P.: Negative Information and Line Observations for Monte Carlo Localization. In: 2008 IEEE International Conference on Robotics and Automation, pp. 2764\u20132769. IEEE (2008)","DOI":"10.1109\/ROBOT.2008.4543629"},{"key":"1385_CR19","unstructured":"Hester, T., Stone, P.: Generalized model learning for reinforcement learning in factored domains. In: Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems-Volume 2, pp. 717\u2013724 (2009)"},{"key":"1385_CR20","unstructured":"Hill, A., Raffin, A., Ernestus, M., Gleave, A., Kanervisto, A., Traore, R., Dhariwal, P., Hesse, C., Klimov, O., Nichol, A., Plappert, M., Radford, A., Schulman, J., Sidor, S., Wu, Y.: Stable baselines https:\/\/github.com\/hill-a\/stable-baselines (2018)"},{"key":"1385_CR21","doi-asserted-by":"crossref","unstructured":"Hoffman, J., Spranger, M., Gohring, D., Jungel, M.: Making Use of What You Don\u2019t See: Negative Information in Markov Localization. In: 2005 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2947\u20132952. IEEE (2005)","DOI":"10.1109\/IROS.2005.1545087"},{"key":"1385_CR22","unstructured":"Jakob, W., Rhinelander, J., Moldovan, D.: pybind11 \u2013 seamless operability between c++\u200911 and python. https:\/\/github.com\/pybind\/pybind11 (2017)"},{"key":"1385_CR23","doi-asserted-by":"crossref","unstructured":"Jouandeau, N., Hugel, V.: Optimization of Parametrised Kicking Motion for Humanoid Soccer Player. In: 2014 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), pp. 241\u2013246. IEEE (2014)","DOI":"10.1109\/ICARSC.2014.6849793"},{"issue":"1","key":"1385_CR24","doi-asserted-by":"publisher","first-page":"73","DOI":"10.1609\/aimag.v18i1.1276","volume":"18","author":"H Kitano","year":"1997","unstructured":"Kitano, H., Asada, M., Kuniyoshi, Y., Noda, I., Osawa, E., Matsubara, H.: RoboCup: A challenge problem for AI. AI Magazine 18(1), 73\u201385 (1997). https:\/\/doi.org\/10.1609\/aimag.v18i1.1276","journal-title":"AI Magazine"},{"issue":"6","key":"1385_CR25","doi-asserted-by":"publisher","first-page":"885","DOI":"10.1007\/s12652-017-0483-7","volume":"8","author":"W Lu","year":"2017","unstructured":"Lu, W., Zhang, J., Zhao, X., Wang, J., Dang, J.: Multimodal sensory fusion for soccer robot self-localization based on long short-term memory recurrent neural network. J. Ambient. Intell. Humaniz. Comput. 8(6), 885\u2013893 (2017)","journal-title":"J. Ambient. Intell. Humaniz. Comput."},{"key":"1385_CR26","doi-asserted-by":"crossref","unstructured":"MacAlpine, P., Depinet, M., Liang, J., Stone, P.: UT Austin Villa: RoboCup 2014 3D simulation league competition and technical challenge champions. In: Bianchi, R.A.C., Akin, H.L., Ramamoorthy, S., Sugiura, K. (eds.) RoboCup-2014: Robot Soccer World Cup XVIII, Lecture Notes in Artificial Intelligence. Springer (2015)","DOI":"10.1007\/978-3-319-18615-3_3"},{"key":"1385_CR27","doi-asserted-by":"crossref","unstructured":"MacAlpine, P., Stone, P.: UT Austin Villa: RoboCup 2017 3D simulation league competition and technical challenges champions. In: Sammut, C., Obst, O., Tonidandel, F., Akyama, H. (eds.) RoboCup 2017: Robot soccer world cup XXI. Springer (2017)","DOI":"10.1007\/978-3-030-00308-1_39"},{"key":"1385_CR28","doi-asserted-by":"crossref","unstructured":"M\u00fcller, J., Laue, T., R\u00f6fer, T.: Kicking a ball - modeling complex dynamic motions for humanoid robots. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 6556 LNAI, pp 109\u2013120 (2011)","DOI":"10.1007\/978-3-642-20217-9_10"},{"key":"1385_CR29","doi-asserted-by":"crossref","unstructured":"Muzio, A., Aguiar, L., M\u00e1ximo, M.R., Pinto, S.C.: Monte Carlo Localization with Field Lines Observations for Simulated Humanoid Robotic Soccer. In: 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS\/SBR), pp. 334\u2013339. IEEE (2016)","DOI":"10.1109\/LARS-SBR.2016.63"},{"key":"1385_CR30","doi-asserted-by":"crossref","unstructured":"Omidvar, M.N., Li, X.: A Comparative Study of Cma-Es on Large Scale Global Optimisation. In: Australasian Joint Conference on Artificial Intelligence, pp. 303\u2013312. Springer (2010)","DOI":"10.1007\/978-3-642-17432-2_31"},{"key":"1385_CR31","unstructured":"Paszke, A., Gross, S., Massa, F., Lerer, A., Bradbury, J., Chanan, G., Killeen, T., Lin, Z., Gimelshein, N., Antiga, L., Desmaison, A., Kopf, A., Yang, E., DeVito, Z., Raison, M., Tejani, A., Chilamkurthy, S., Steiner, B., Fang, L., Bai, J., Chintala, S.: Pytorch: an Imperative Style, High-Performance Deep Learning Library. In: Wallach, H., Larochelle, H., Beygelzimer, A., d\u2019Alch\u00e9 Buc, F., Fox, E., Garnett, R. (eds.) Advances in Neural Information Processing Systems 32, pp. 8024\u20138035. Curran Associates, Inc (2019)"},{"key":"1385_CR32","unstructured":"Raffin, A., Hill, A., Ernestus, M., Gleave, A., Kanervisto, A., Dormann, N.: Stable baselines3 https:\/\/github.com\/DLR-RM\/stable-baselines3 (2019)"},{"key":"1385_CR33","unstructured":"RoboCup: 3D Soccer Simulation League history. https:\/\/ssim.robocup.org\/3d-simulation\/3d-history\/ (2021)"},{"key":"1385_CR34","unstructured":"Robotics, S.: NAO the humanoid robot. https:\/\/www.softbankrobotics.com\/emea\/en\/nao"},{"key":"1385_CR35","doi-asserted-by":"crossref","unstructured":"Shafii, N., Abdolmaleki, A., Ferreira, R., Lau, N., Reis, L.P.: Omnidirectional Walking and Active Balance for Soccer Humanoid Robot. In: Correia, L., Reis, L.P., Cascalho, J. (eds.) Progress in Artificial Intelligence, pp. 283\u2013294. Springer Berlin Heidelberg, Berlin, Heidelberg (2013)","DOI":"10.1007\/978-3-642-40669-0_25"},{"issue":"3","key":"1385_CR36","doi-asserted-by":"publisher","first-page":"555","DOI":"10.1007\/s10846-015-0191-5","volume":"80","author":"N Shafii","year":"2015","unstructured":"Shafii, N., Lau, N., Reis, L.P.: Learning to walk fast: Optimized hip height movement for simulated and real humanoid robots. J. Intel. & Robotic Syst. 80(3), 555\u2013571 (2015). https:\/\/doi.org\/10.1007\/s10846-015-0191-5","journal-title":"J. Intel. & Robotic Syst."},{"key":"1385_CR37","unstructured":"SimSpark: Agentsyncmode \u2014 SimSpark. http:\/\/simspark.sourceforge.net\/wiki\/index.php\/AgentSyncMode (2012)"},{"issue":"12","key":"1385_CR38","doi-asserted-by":"publisher","first-page":"193","DOI":"10.5772\/61314","volume":"12","author":"N Snafii","year":"2015","unstructured":"Snafii, N., Abdolmaleki, A., Lau, N., Reis, L.P.: Development of an omnidirectional walk engine for soccer humanoid robots. Inter. J. Advanced Robotic Syst. 12(12), 193 (2015). https:\/\/doi.org\/10.5772\/61314","journal-title":"Inter. J. Advanced Robotic Syst."},{"key":"1385_CR39","unstructured":"S\u00f6derkvist, I.: Using SVD for some fitting problems. https:\/\/ltu.se\/cms_fs\/1.51590!\/svd-fitting.pdf (2009). Lule\u00e5 University of Technology"},{"key":"1385_CR40","volume-title":"Roboviz: Programmable visualization for simulated soccer, P. 282\u2013293","author":"J Stoecker","year":"2012","unstructured":"Stoecker, J., Visser, U.: Roboviz: Programmable visualization for simulated soccer, P. 282\u2013293. Springer-Verlag, Berlin, Heidelberg (2012)"},{"key":"1385_CR41","unstructured":"Sutton, R.S., Barto, A.G.: Reinforcement learning: An Introduction, second edn The MIT Press (2018)"},{"key":"1385_CR42","doi-asserted-by":"publisher","unstructured":"Teixeira, H., Silva, T., Abreu, M., Reis, L.P.: Humanoid robot kick in motion ability for playing robotic soccer. In: 2020 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), pp. 34\u201339. https:\/\/doi.org\/10.1109\/ICARSC49921.2020.9096073 (2020)","DOI":"10.1109\/ICARSC49921.2020.9096073"},{"key":"1385_CR43","volume-title":"Probabilistic Robotics (Intelligent Robotics and Autonomous Agents)","author":"S Thrun","year":"2005","unstructured":"Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics (Intelligent Robotics and Autonomous Agents). The MIT Press, Cambridge, Massachusetts (2005)"},{"issue":"2","key":"1385_CR44","first-page":"115","volume":"28","author":"U Visser","year":"2007","unstructured":"Visser, U., Burkhard, H.D.: Robocup: 10 Years of Achievements and Future Challenges. AI Mag. 28(2), 115\u2013132 (2007)","journal-title":"AI Mag."},{"key":"1385_CR45","unstructured":"Watkins, C.: Learning from delayed rewards. Ph.D. thesis, University of Cambridge (1989)"},{"key":"1385_CR46","doi-asserted-by":"crossref","unstructured":"Xu, Y., Vatankhah, H.: Simspark: an open source robot simulator developed by the Robocup community. In: Behnke, S., Veloso, M., Visser, A., Xiong, R. (eds.) Robocup 2013: Robot World Cup XVII, pp. 632\u2013639. Springer, Berlin, Heidelberg (2014)","DOI":"10.1007\/978-3-662-44468-9_59"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01385-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-021-01385-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01385-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,6,9]],"date-time":"2021-06-09T16:16:55Z","timestamp":1623255415000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-021-01385-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,12]]},"references-count":46,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2021,6]]}},"alternative-id":["1385"],"URL":"https:\/\/doi.org\/10.1007\/s10846-021-01385-3","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,5,12]]},"assertion":[{"value":"17 July 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"30 March 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"12 May 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Conflict of Interests"}}],"article-number":"30"}}