# Robot Soccer on Robot Soccer Goal (Evaluation)

Source: [Robot Soccer on Robot Soccer Goal (Evaluation)](<https://www.sota2.com/research/sota/robot-soccer-on-robot-soccer-goal-evaluation>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T05:54:40.048Z

Evaluation of robot performance in a soccer scenario, measured by the probability of scoring a goal (P(Goal)).

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Robot Soccer |
| Dataset (including any stated split) | Robot Soccer Goal (Evaluation) |
| Metric | P(Goal) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 5 of 5 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [P(Goal)](<https://www.sota2.com/research/sota/robot-soccer-on-robot-soccer-goal-evaluation.md?metric=P(Goal)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | P(Goal) | Result date | Report paper |
| --- | --- | --- | --- |
| MP-DQN | 78.9 | Not recorded | 68fa65bb1e209131cea0bf17 |
| SP-DQN | 75.2 | Not recorded | 68fa65bb1e209131cea0bf17 |
| P-DQN | 70.1 | Not recorded | 68fa65bb1e209131cea0bf17 |
| Q-PAMDP | 45.2 | Not recorded | 68fa65bb1e209131cea0bf17 |
| PA-DDPG | 0.6 | Not recorded | 68fa65bb1e209131cea0bf17 |

### MP-DQN

P(Goal): 78.9. Result ID: 698cc4028b517eb4331c9479.

[Reporting paper](<https://www.sota2.com/research/paper/68fa65bb1e209131cea0bf17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65bb1e209131cea0bf17.md>)

[Implementation](<https://github.com/cycraig/MP-DQN>)

Recorded evaluation configuration: {"evaluation\_runs":"30","episodes":"1000","random\_exploration":"none"}. This record does not assert independent reproduction.

### SP-DQN

P(Goal): 75.2. Result ID: 698cc4028b517eb4331c9478.

[Reporting paper](<https://www.sota2.com/research/paper/68fa65bb1e209131cea0bf17.md>)

Recorded evaluation configuration: {"evaluation\_runs":"30","episodes":"1000","random\_exploration":"none"}. This record does not assert independent reproduction.

### P-DQN

P(Goal): 70.1. Result ID: 698cc4028b517eb4331c9477.

[Reporting paper](<https://www.sota2.com/research/paper/68fa65bb1e209131cea0bf17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64fa1e209131cea078a8.md>)

Recorded evaluation configuration: {"evaluation\_runs":"30","episodes":"1000","random\_exploration":"none"}. This record does not assert independent reproduction.

### Q-PAMDP

P(Goal): 45.2. Result ID: 698cc4028b517eb4331c9475.

[Reporting paper](<https://www.sota2.com/research/paper/68fa65bb1e209131cea0bf17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa62301e209131ce9f8103.md>)

Recorded evaluation configuration: {"evaluation\_runs":"30","episodes":"1000","random\_exploration":"none"}. This record does not assert independent reproduction.

### PA-DDPG

P(Goal): 0.6. Result ID: 698cc4028b517eb4331c9476.

[Reporting paper](<https://www.sota2.com/research/paper/68fa65bb1e209131cea0bf17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa73161e209131cea5a73a.md>)

Recorded evaluation configuration: {"evaluation\_runs":"30","episodes":"1000","random\_exploration":"none"}. This record does not assert independent reproduction.

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