II.Ball Catching Objectives The objectives of this challenge is to check how the most fundamental skill of catching a ball under several conditions such as pass receiving (Task A), goal keeping (Task B), or intercepting (Task C) can be acquired, and to evaluate merits and demerits of realized skills using the standard tasks. Technical Issues In addition to issues in the challenge (I), there remain several issues: Task A: Prediction of the ball speed and direction is a key issue to receive the ball. To receive the passed ball during the self motion, the relationship between the moving ball and the self motion should be made clear. Task B: In addition to the above issue, goal protection issue is important. To estimate the goal position, the agent may have to watch the goal area lines and the penalty area line. Again, the omni directional lens is much better to see the coming ball and the goal position simultaneously. In the goal area line, the agent can receive and keep the ball while outside this line it may have to kick the ball (not receiving but just protecting the goal). Discrimination of these lines might cause the vision much more complicated. Task C: It seems similar to Task A, but the main difference is to get the ball from the pass between opponents. This requires more accurate prediction of motions of not only the ball but also opponents (both passer and receiver). Also, more load in perception module. Evaluation Although we can test the Tasks A nd B with human players, we would like to test with the obtained skill in the challenge (I). On the Task C, there is no opponents to pass the ball each other, therefore what we can do is to change the speed of the ball faster. After the following challenge, we can check the both skills, that is, passing skill and intercepting one. Of course, each of both should be evaluated separately in advance.
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