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

- Source: Guyuehome
- Published: 2026-10-17T15:51:00.000Z
- RoboHot: https://robohot.news/en/items/v94c5t100b18x8eedvtaty2u0
- Original: https://www.guyuehome.com/detail?id=2106571623768289281

## Summary

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.