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<h2 id="introduction">Introduction</h2>
<p><a href="http://ai.ustc.edu.cn/2d/">WrightEagle 2D Soccer Simulation Team</a> is a branch of <a href="http://ai.ustc.edu.cn/">WrightEagle</a> Robocup Team, established in 1998 by the <a href="http://ai.ustc.edu.cn/">Multi-Agent Systems Lab.</a>, <a href="http://www.ustc.edu.cn">University of Science and Technology of China</a> (USTC). We have participated in annual competitions of RoboCup since 1999 and have won 6 <strong><em>world champions</em></strong> and 5 runners-up of RoboCup since 2005.</p>
<p>We model <a href="https://en.wikipedia.org/wiki/RoboCup_2D_Soccer_Simulation_League">RoboCup 2D soccer simulation</a> as a typical problem of partially observable stochastic games (POSGs). In order to solve it online under realtime constraints, we take advantage of rationality assumption, hierarchical decomposition, state abstraction, expectimax tree search, Monte Carlo simulation and heuristic evaluation. More precisely, we model the RoboCup 2D game as a <a href="https://en.wikipedia.org/wiki/Markov_decision_process">Markov decision process</a> (MDP), assuming that opponents and teammates are all rational. We further decompose the sequential decision-making problem within the resulting MDP into a hierarchy of subtasks, including attack, defense, shoot, dribble, pass, intercept, position, mark, block, formation, etc. A hierarchical online planning algorithm is then developed for the agent to do online planning in realtime, exploiting subtask-specific heuristic and evaluation functions. More information regarding our approach to RoboCup 2D can be found in our recent <a href="http://wrighteagle2d.github.io/publications.html">publications</a>.</p>
<p>A video from RoboCup 2015 final – HELIOS2015 v.s. WrightEagle2015 – is as follows.</p>
<p><a href="http://www.youtube.com/watch?v=Ptzv9NF9opM" title="RoboCup2015 Soccer Simulation 2D Final"><img src="materials/robocup2015final.gif" alt="RoboCup 2015 Final Video" /></a></p>
<p><br />
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</p>
<h2 id="research">Research</h2>
<ul>
<li><a href="http://ai.ustc.edu.cn/en/research/decisionmaking.php">Hierarchical planning for large Markov decision processes (MDPs)</a></li>
<li><a href="http://ai.ustc.edu.cn/en/research/planning.php">Online planning for (partially observable) Markov decision processes (MDPs and POMDPs)</a></li>
<li><a href="http://ai.ustc.edu.cn/en/research/decpomdp.php">Approximate planning for decentralized partially observable Markov decision processes (Dec-POMDPs)</a></li>
</ul>
<p><br />
<br />
</p>
<h2 id="videos">Videos</h2>
<ul>
<li><a href="https://www.youtube.com/watch?v=Ptzv9NF9opM">Final of RoboCup 2015</a> (HELIOS2015_0-vs-<strong>WrightEagle</strong>_3) <strong><em>[Champion!]</em></strong></li>
<li><a href="https://www.youtube.com/watch?v=kRIygFjlD_Q">Final of RoboCup 2014</a> (<strong>WrightEagle</strong>_3-vs-Gliders2014_2) <strong><em>[Champion!]</em></strong></li>
<li><a href="https://www.youtube.com/watch?v=BoWoIc4IrtI">Final of RoboCup 2013</a> (<strong>WrightEagle</strong>_2-vs-HELIOS2013_0) <strong><em>[Champion!]</em></strong></li>
<li><a href="https://www.youtube.com/watch?v=cDhSjSYPvdE">Final of RoboCup 2012</a> (<strong>HELIOS2012</strong>_4-vs-WrightEagle_1)</li>
<li><a href="https://www.youtube.com/watch?v=leNDA5tzUfk">Final of RoboCup 2011</a> (<strong>WrightEagle</strong>_3-vs-HELIOS2011_2) <strong><em>[Champion!]</em></strong></li>
<li><a href="https://www.youtube.com/watch?v=BVWkndHk3AE">Final of RoboCup 2010</a> (<strong>HELIOS2010</strong>_2-vs-WrightEagle_1)</li>
<li><a href="https://www.youtube.com/watch?v=Q18Wxs3Da-8">Final of RoboCup 2009</a> (HELIOS2009_1-vs-<strong>WrightEagle</strong>_2) <strong><em>[Champion!]</em></strong></li>
<li><a href="https://www.youtube.com/watch?v=w1c_8TWX8dY">Final of RoboCup 2008</a> (<strong>Brainstormers08</strong>_0_4-vs-WE2008_0_3)</li>
<li><a href="https://www.youtube.com/watch?v=ceDDg_l6_J0">Final of RoboCup 2007</a> (<strong>Brainstormers07</strong>_3-vs-WE2007_0)</li>
<li><a href="https://www.youtube.com/watch?v=FiFj0HQXaGw">Final of RoboCup 2006</a> (Brainstormers06_1-vs-<strong>WE2006</strong>_2) <strong><em>[Champion!]</em></strong></li>
<li><a href="https://www.youtube.com/watch?v=FiFj0HQXaGw">Final of RoboCup 2005</a> (<strong>Brainstormers05</strong>_3-vs-WE2005_0)</li>
</ul>
<p><br />
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</p>
<h2 id="binaries">Binaries</h2>
<ul>
<li><a href="binaries/WrightEagle_stable_ubuntu_16.04.tar.gz">Stable Version (for Ubuntu 16.04)</a></li>
<li><a href="binaries/WrightEagle_stable_ubuntu_14.04.tar.gz">Stable Version (for Ubuntu 14.04)</a></li>
<li><a href="binaries/WrightEagle_stable_ubuntu_12.04.tar.gz">Stable Version (for Ubuntu 12.04)</a></li>
<li><a href="binaries/WrightEagle_rc15_ubuntu_14.04_release.tar.gz">Binary of RoboCup 2015 (for Ubuntu 14.04)</a></li>
<li><a href="binaries/WrightEagle_rc15_release.tar.gz">Binary of RoboCup 2015</a></li>
<li><a href="binaries/WrightEagle_rc14_ubuntu_14.04_release.tar.gz">Binary of RoboCup 2014 (for Ubuntu 14.04)</a></li>
<li><a href="binaries/WrightEagle_rc14_release.tar.gz">Binary of RoboCup 2014</a></li>
<li><a href="binaries/WrightEagle_chinaopen13_release.tar.gz">Binary of RoboCup China Open 2013</a></li>
<li><a href="binaries/WrightEagle_rc13_ubuntu_14.04_release.tar.gz">Binary of RoboCup 2013 (for Ubuntu 14.04)</a></li>
<li><a href="binaries/WrightEagle_rc13_release.tar.gz">Binary of RoboCup 2013</a></li>
<li><a href="binaries/WrightEagle_chinaopen12_release.tar.gz">Binary of RoboCup China Open 2012</a></li>
<li><a href="binaries/WrightEagle_rc12_release.tar.gz">Binary of RoboCup 2012</a></li>
<li><a href="binaries/WrightEagle_chinaopen11_release.tar.gz">Binary of RoboCup China Open 2011</a></li>
<li><a href="binaries/WrightEagle_rc11_release.tar.gz">Binary of RoboCup 2011</a></li>
<li><a href="binaries/WrightEagle_chinaopen10_release.tar.gz">Binary of RoboCup China Open 2010</a></li>
<li><a href="binaries/WrightEagle_rc10_release.tar.gz">Binary of RoboCup 2010</a></li>
<li><a href="binaries/WrightEagle_chinaopen09_release.tar.gz">Binary of RoboCup China Open 2009</a></li>
<li><a href="binaries/WrightEagle_rc09_release.tar.gz">Binary of RoboCup 2009</a></li>
</ul>
<p><br />
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</p>
<h2 id="releases">Releases</h2>
<ul>
<li><a href="https://github.com/wrighteagle2d/wrighteaglebase">WrightEagleBASE at GitHub</a></li>
<li><a href="releases/WrightEagleBASE-4.1.0.tar.gz">WrightEagleBASE-4.1.0</a> ( Jul. 12, 2014)</li>
<li><a href="releases/WrightEagleBASE-4.0.0.tar.gz">WrightEagleBASE-4.0.0</a> ( Jan. 13, 2013)</li>
<li><a href="releases/WrightEagleBASE-3.0.0.tar.gz">WrightEagleBASE-3.0.0</a> ( Aug. 13, 2011)</li>
<li><a href="releases/WrightEagleBASE-2.1.0.tar.gz">WrightEagleBASE-2.1.0</a> ( Dec. 5, 2010)</li>
<li><a href="releases/WrightEagleBASE-2.0.2.tar.gz">WrightEagleBASE-2.0.2</a> ( Aug. 24, 2010)</li>
<li><a href="releases/WrightEagleBASE-2.0.1.tar.gz">WrightEagleBASE-2.0.1</a> ( Aug. 21, 2010)</li>
<li><a href="releases/WrightEagleBASE-2.0.0.tar.gz">WrightEagleBASE-2.0.0</a> ( Aug. 20, 2010)</li>
<li><a href="releases/WrightEagleBASE-1.1.0.tar.gz">WrightEagleBASE-1.1.0</a> ( Jan. 19, 2010)</li>
<li><a href="releases/WrightEagleBASE-1.0.1.tar.gz">WrightEagleBASE-1.0.1</a> ( Oct. 17, 2009)</li>
<li><a href="releases/WrightEagleBASE-1.0.0.tar.gz">WrightEagleBASE-1.0.0</a> ( Aug. 26, 2009)</li>
</ul>