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In 2019, Rhoban Football Club reached the first place of the KidSize soccercompetition for the fourth time and performed the first in-game throw-in in thehistory of the Humanoid league. Building on our existing code-base, we improvedsome specific functionalities, introduced new behaviors and experimented withoriginal methods for labeling videos. This paper presents and reviews ourlatest changes to both software and hardware, highlighting the lessons learnedduring RoboCup.

Rhoban Football Club: RoboCup Humanoid KidSize 2019 Champion Team Paper