Learning playground for humanoid robots related to robot soccer, built on top of mjlab (GPU-accelerated RL via MuJoCo Warp).
Documentation: https://neverorfrog.github.io/colosseum/
- Learning Vision-Based Dribbling for Humanoid Soccer via Privileged Representation Learning — Maiorana, Spagnoli, Bugli, Volpi, Affinita, Suriani, Nardi, Iocchi (under submission, RoboCup Symposium 2026)
- HumanoidSoccerMaze: a novel benchmark and a hierarchical solution approach — Maiorana, Gigliotti, Iocchi (under submission, RoboCup Symposium 2026)