| Founded: | 1997 |
| Region: | International |
| Current Champions: |  Helios |
| Most Successful Team: |  WrightEagle (6 titles) |
The RoboCup 2D Simulated Soccer League is the oldest of the RoboCup Soccer Simulation Leagues. It consists of a number of competitions with computer simulated soccer matches as the main event.
There are no physical robots in this league but spectators can watch the action on a large screen, which looks like a giant computer game. Each simulated robot player may have its own play strategy and characteristic and every simulated team actually consists of a collection of programs. Many computers are networked together in order for this competition to take place.
In the 2D Simulation League, two teams of eleven autonomous software programs (called agents) each play soccer in a two-dimensional virtual soccer stadium represented by a central server, called SoccerServer. This server knows everything about the game, i.e. the current position of all players and the ball, the physics and so on. The game further relies on the communication between the server and each agent. On the one hand each player receives relative and noisy input of his virtual sensors (visual, acoustic and physical) and may on the other hand perform some basic commands (like dashing, turning or kicking) in order to influence its environment.
The big challenge in the Simulation League is to conclude from all possible world states (derived from the sensor input by calculating a sight on the world as absolute and noise-free as possible) to the best possible action to execute. As a game is divided into 6000 cycles this task has to be accomplished in time slot of 100 ms (the length of each cycle).[1]
| width=5% | Year | width=10% | Host | width=14% | Winner | width=10% | Score | width=14% | Runner-up | width=14% | Third place | width=10% | Score | width=14% | Fourth place | width=4% | Number of teams | |||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 1997 Details | Nagoya |  AT-Humboldt | 11–2 | Andhill |  ISIS | 2–1 | CMUnited | 29 | ||||||||||||
| 1998 Details |  Paris | CMUnited | 3–0 | AT-Humboldt |  Windmill Wanderers | – | ISIS | 36 | ||||||||||||
| 1999 Details |  Stockholm | CMUnited | 7–0 | magmaFreiburg | Essex Wizards | – | 11 Monkeys | 24 | ||||||||||||
| 2000 Details |  Melbourne |  FCPortugal | 1–0 | Brainstormers | ATT-CMUnited | – | CMUnited | 24 | ||||||||||||
| 2001 Details | Seattle | TsinghuAeolus | 1–0 | Brainstormers | FCPortugal | – | UvA Trilearn | 24 | ||||||||||||
| 2002 Details | Fukuoka | TsinghuAeolus | 7–0 | Everest | Brainstormers | – | FCPortugal | 24 | ||||||||||||
| 2003 Details |  Padova | UvA Trilearn | 4-3 | TsinghuAeolus | Brainstormers | 2–1 | Everest | 24 | ||||||||||||
| 2004 Details | Lisbon | STEP | 8-1 | Brainstormers | Mersad | 1-0 | TsinghuAeolus | 24 | ||||||||||||
| 2005 Details | Osaka | Brainstormers | 3-0 | WrightEagle | TokyoTechSFC | – | STEP | 17 | ||||||||||||
| 2006 Details | Bremen | WrightEagle | 2-1 | Brainstormers | Ri-one | – | TokyoTech | 16 | ||||||||||||
| 2007 Details | Atlanta | Brainstormers | 3-0 | WrightEagle | HELIOS | 2-1 | OPU_hana_2D | 15 | ||||||||||||
| 2008 Details | Suzhou | Brainstormers | 4–3 | WrightEagle | HELIOS | – | AmoyNQ | 15 | ||||||||||||
| 2009 Details |  Graz | WrightEagle | 2–1 | HELIOS |  Oxsy | 1–0 | Brainstormers | 19 | ||||||||||||
| 2010 Details |  Singapore | HELIOS | 2–1 | WrightEagle | Oxsy | – | ESKILAS | 20 | ||||||||||||
| 2011 Details |  Istanbul | WrightEagle | 3–2 | HELIOS | MarliK | 3–2 | Oxsy | 19 | ||||||||||||
| 2012 Details |  Mexico City | HELIOS | 4–1 | WrightEagle | MarliK | 1-0 | Gliders | 19 | ||||||||||||
| 2013 Details | Eindhoven | WrightEagle | 2–0 | HELIOS | YuShan | – | Axiom | 20 | ||||||||||||
| 2014 Details |  João Pessoa | WrightEagle | 3–2 | Gliders | Oxsy | 2-1 | HELIOS | 15 | ||||||||||||
| 2015 Details | Hefei | WrightEagle | 4–0 | HELIOS | Gliders | – | Oxsy | 19 | ||||||||||||
| 2016 Details | Leipzig | Gliders | 2–1 | HELIOS | Rione | – | CSU | 18 | ||||||||||||
| 2017 Details | Nagoya | HELIOS | 2–0 | FRA-United | Oxsy | 0-0(2-1) | Cyrus | 16 | ||||||||||||
| 2018 Details |  Montreal | HELIOS | 1–0 | Cyrus | MT | 2-0 | Oxsy | 13 | ||||||||||||
| 2019Details | Sydney | Fractals | 1–0 | HELIOS | Cyrus | 3-1 | YuShan | 15 | ||||||||||||
| 2021Details | Online WorldWide | Cyrus | 1–0 | HELIOS | YuShan | 2-1 | HfutEngine | 16 | ||||||||||||
| 2022 Details |  Bangkok | HELIOS | 1–0 | Cyrus | YuShan | 7-0 | Oxsy | 12 | ||||||||||||
| 2023 Details | Bordeaux | HELIOS | 1–0 | Cyrus | YuShan | 5-3 | Oxsy | 14 | ||||||||||||
| 2024 Details | Eindhoven | HELIOS | 2–2(4-3) | Cyrus | YuShan | 1-0 | FRA-United | 10 | ||||||||||||
| Team | Titles | Runners-up | Third place | Fourth place |
|---|---|---|---|---|
| HELIOS | 7 (2010, 2012, 2017, 2018, 2022, 2023, 2024) | 6 (2009, 2011, 2013, 2015, 2019, 2021) | 2 (2007, 2008) | 1 (2014) |
| WrightEagle | 6 (2006, 2009, 2011, 2013, 2014, 2015) | 5 (2005, 2007, 2008, 2010, 2012) | ||
| Brainstormers | 3 (2005, 2007, 2008) | 4 (2000, 2001, 2004, 2006) | 2 (2002, 2003) | 1 (2009) |
| TsinghuAeolus | 2 (2001, 2002) | 1 (2003) | 1 (2004) | |
| CMUnited | 2 (1998, 1999) | 2 (1997, 2000) | ||
| Cyrus | 1 (2021) | 3 (2022, 2023, 2024) | ||
| AT-Humboldt | 1 (1997) | 1 (1998) | 1 (2006) | |
| FCPortugal | 1 (2000) | 1 (2001) | 1 (2002) | |
| Uva Trilearn | 1 (2003) | 1 (2001) | ||
| STEP | 1 (2004) | 1 (2005) | ||
| Gliders | 1 (2016) | 1 (2014) | 1 (2015) | 1 (2012) |
| Fractals | 1 (2019) | |||
| Cyrus | 1 (2018) | 1 (2019) | 1 (2017) | |
| Everest | 1 (2002) | 1 (2003) | ||
| FRA-United | 1 (2017) | 1 (2024) | ||
| YuShan | 5 (2013, 2021, 2022, 2023, 2024) | 1 (2019) | ||
| Oxsy | 4 (2009, 2010, 2014, 2017) | 4 (2011, 2015, 2018, 2022) | ||
| MarliK | 2 (2011, 2012) | |||
| ISIS | 1 (1997) | 1 (1998) | ||
| MT | 1 (2018) | |||
| Ri-one | 1 (2006) | |||
| TokyoTechSFC | 1 (2005) | |||
| Mersad | 1 (2004) | |||
| ATT-CMUnited | 1 (2000) | |||
| Essex Wizards | 1 (1999) | |||
| Windmill Wanderers | 1 (1998) | |||
| HfutEngine | 1 (2021) | |||
| Axiom | 1 (2013) | |||
| ESKILAS | 1 (2010) | |||
| OPU_hana_2D | 1 (2007) | |||
| 11 Monkeys | 1 (1999) | |||
| bgcolor=#11ACD32 | Country | bgcolor=#11ACD32 | Titles | bgcolor=#11ACD32 | Runners-up |
|---|---|---|---|---|---|
| China | 8 | 7 | |||
| Japan | 5 | 5 | |||
| Germany | 4 | 7 | |||
| Australia | 2 | 1 | |||
| United States | 2 | 0 | |||
| Canada | 1 | 1 | |||
| Netherlands | 1 | 0 | |||
| Russia | 1 | 0 | |||
| Portugal | 1 | 0 | |||
| Iran | 0 | 1 |
| Country | Team(s) | University/Institute/School |
|---|---|---|
| Gliders Receptivity Fractals | CSIRO Computational Informatics | |
| Brazil | Asimov2D GPR2D ITAndroids UFSJ2D Warthog2D Expertinos Robotbulls PMec-Allejos RobôCIn | Federal Institute of Espírito Santo Parana Federal Technological University Aeronautics Technological Institute Federal University of São João del-Rei University of São Paulo Federal University of Itajubá National Institute of Telecommunications Federal University of Goiás Federal University of Pernambuco |
| Cyrus | Dalhousie University | |
| AUA2D Apollo2D Everest HfutEngine TsinghuAeolus MT WrightEagle YuShan GDUT_TiJi Alice2D | Anhui University of Architecture Beijing Institute of Technology Nanjing University of Posts and Telecommunications Tsinghua University Hefei University University of Science and Technology of China Anhui University of Technology Guangdong University of Technology Hefei Normal University | |
| FRA-United | Frankfurt University of Applied Sciences | |
| InfoGraphics | Indian Institute of Technology, Kharagpur | |
| Cyrus Tehran2D MasterPiece 051 Armik AUTParsian Axiom Shiraz HERMES Nexus2D Unique Riton Artemis Soccereus AbouAliSina ESKILAS LegenDary MarliK NADCO-2D Genius Razi Persepolis The 8 RoboSampad Hades2D | Atomic Energy High School Atomic Energy High School Amirkabir University of Technology (Tehran Polytechnic) Iran University of Science and Technology (IUST) Shiraz University Of Technology Allame Helli1 high school Mashhad University Allame Helli High School AbouAliSina HighSchool Islamic Azad University of Mashhad University of Guilan, Shahid Beheshti University University Of Guilan, UGM-LaB Islamic Azad University, NADCO Educational Robotics Corporation Ghazal High School Shahid Beheshti Highschool of Ardabil | |
| HELIOS RaiC Ri-one | Fukuoka University, AIST, Osaka Prefecture University Fukui National College of Technology Ritsumeikan University | |
| Netherlands | Windmill Wanderers UvA Trilearn | Universiteit van Amsterdam |
| Portugal | FCPortugal | Aveiro University, Porto University |
| Oxsy | Compa-IT | |