Article

Humanoid Robot Shooting and Goalkeeping Control Based on Motion-Prior Reinforcement Learning

A G1 shooter based on motion-prior reinforcement learning scored on all 60 penalty kicks, and a goalkeeper using historical encoding saved 85% of shots. However, when the two models were placed in the official adversarial scenario, they scored zero goals across 20 matches; the article uses frame-by-frame data to identify a two-layer distribution-boundary mechanism.

Part of the event: Distributional Boundary Analysis of Zero Goals in G1 Shooting vs. Goalkeeping Adversarial Matchups

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