Paper Citation Record · LEDGER

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning

As of 10 August 2026, this Paper Citation Record lists 29 of 29 outbound references and 0 inbound Pith citation observations for arXiv:2606.18786.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2606.18786 v2

Coverage vector

measured 29 of 29 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-06-26T21:23:44.002044Z

measured 29 of 29 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-10T06:31:04.303077+00:00

measured 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

29 of 29 outbound references displayed

verified exact13
verified fuzzy0
unresolved13
parse uncertain0
malformed identifier2
metadata mismatch1

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 56d8b89e-73e7-4a48-94d8-44c07f6e6e5d · outbound

This paper cites Springer- Briefs in Computer Science.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Springer- Briefs in Computer Science

Reference 1

Resolution: verified exact; doi, observed 2026-06-26T21:30:02.899072Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation b6205159-515f-49f8-8f7f-a0382515c01c · outbound

This paper cites Google Research Football: A novel reinforcement learning environment.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Google Research Football: A novel reinforcement learning environment

Reference 2

Resolution: malformed identifier; no resolver link, observed 2026-06-26T21:23:44.002044Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 311b8bfb-4a22-4294-9760-1c5c4a3083ab · outbound

This paper cites Adaptive action supervision in reinforcement learning from real-world multi-agent demonstrations.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Adaptive action supervision in reinforcement learning from real-world multi-agent demonstrations

Reference 3

Resolution: verified exact; doi, observed 2026-06-26T21:30:02.896912Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 15601a3a-3869-4174-b1b7-a0cdeb033dc4 · outbound

This paper cites Soccer server: A tool for research on multiagent systems.Applied Artificial Intelligence, 12(2–3):233–250, 1998.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Soccer server: A tool for research on multiagent systems.Applied Artificial Intelligence, 12(2–3):233–250, 1998

Reference 4

Resolution: verified exact; doi, observed 2026-06-26T21:30:02.905537Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 1cf5b3a4-6e03-45f0-b7c6-184c2fbd48fd · outbound

This paper cites RoboCup Soccer Simulator Server.https: //github.com/rcsoccersim/rcssserver, 2026.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning RoboCup Soccer Simulator Server.https: //github.com/rcsoccersim/rcssserver, 2026

Reference 5

Resolution: unresolved; no resolver link, observed 2026-06-26T21:23:44.002044Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 36fd5df8-1691-4b92-9ec4-85066dbc6387 · outbound

This paper cites Pyrus Base: An Open Source Python Framework for the RoboCup 2D Soccer Simulation.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Pyrus Base: An Open Source Python Framework for the RoboCup 2D Soccer Simulation

Reference 6

Resolution: verified exact; arxiv_id, observed 2026-06-26T21:30:02.910851Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 1a8993fe-2184-4fc3-8254-96b3c5e1e36b · outbound

This paper cites Cross Language Soccer Framework: An Open Source Framework for the RoboCup 2D Soccer Simulation.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Cross Language Soccer Framework: An Open Source Framework for the RoboCup 2D Soccer Simulation

Reference 7

Resolution: verified exact; arxiv_id, observed 2026-06-26T21:30:02.908733Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation ab636cdb-8589-4038-b01c-3c715bb6f767 · outbound

This paper cites Sutton, and Gregory Kuhlmann.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Sutton, and Gregory Kuhlmann

Reference 8

Resolution: verified exact; doi, observed 2026-06-26T21:30:02.898902Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation d223265f-b2ed-424a-858b-db245728b5d1 · outbound

This paper cites Taylor, and Yaxin Liu.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Taylor, and Yaxin Liu

Reference 9

Resolution: verified exact; doi, observed 2026-06-26T21:30:02.910672Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 2d8a360a-ac9a-4373-8532-d8f78fd4ca2a · outbound

This paper cites Half field offense in RoboCup soccer: A multiagent reinforcement learning case study.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Half field offense in RoboCup soccer: A multiagent reinforcement learning case study

Reference 10

Resolution: verified exact; doi, observed 2026-06-26T21:30:02.903624Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 0c82e421-fb75-495b-af4d-81c3bee8986a · outbound

This paper cites The RoboCup synthetic agent challenge.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning The RoboCup synthetic agent challenge

Reference 11

Resolution: unresolved; no resolver link, observed 2026-06-26T21:23:44.002044Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9e6aa0be-422c-4637-a056-c98e44bfa304 · outbound

This paper cites Morgan Kaufmann.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Morgan Kaufmann

Reference 12

Resolution: unresolved; no resolver link, observed 2026-06-26T21:23:44.002044Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 173a8a1a-c8b0-4e25-93f0-56b6cc2850ff · outbound

This paper cites RoboCupSoccer Simulation League.https://www.robocup.org/ leagues/23, 2026.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning RoboCupSoccer Simulation League.https://www.robocup.org/ leagues/23, 2026

Reference 13

Resolution: unresolved; no resolver link, observed 2026-06-26T21:23:44.002044Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d3cc659a-e23f-4763-9242-eabeefa341ab · outbound

This paper cites RoboCupSoccer Simulation 2D League.https://www.robocup.org/ leagues/24, 2026.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning RoboCupSoccer Simulation 2D League.https://www.robocup.org/ leagues/24, 2026

Reference 14

Resolution: unresolved; no resolver link, observed 2026-06-26T21:23:44.002044Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2a9910ad-cd1d-4242-8723-a95633d20ddf · outbound

This paper cites HELIOS2012: Robocup 2012 soccer simulation 2d league champion.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning HELIOS2012: Robocup 2012 soccer simulation 2d league champion

Reference 15

Resolution: verified exact; doi, observed 2026-06-26T21:30:02.887410Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 18b63d2b-69f8-426a-9bdb-3c990f27c30f · outbound

This paper cites HELIOS base: An open source package for the RoboCup soccer 2d simulation.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning HELIOS base: An open source package for the RoboCup soccer 2d simulation

Reference 16

Resolution: verified exact; doi, observed 2026-06-26T21:30:02.891111Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation c8cb5a2f-af41-4106-b713-28ef2d8b6de2 · outbound

This paper cites Accessed: 2026-06-13.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Accessed: 2026-06-13

Reference 17

Resolution: unresolved; no resolver link, observed 2026-06-26T21:23:44.002044Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 06c39362-d571-492b-b5fb-370649b1d8f1 · outbound

This paper cites Multi- agent actor-critic for mixed cooperative-competitive environments.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Multi- agent actor-critic for mixed cooperative-competitive environments

Reference 18

Resolution: unresolved; no resolver link, observed 2026-06-26T21:23:44.002044Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 078bc0b3-f61f-4fcc-969f-1d81d31df9f5 · outbound

This paper cites QMIX: Monotonic value function factorisation for deep multi- agent reinforcement learning.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning QMIX: Monotonic value function factorisation for deep multi- agent reinforcement learning

Reference 19

Resolution: unresolved; no resolver link, observed 2026-06-26T21:23:44.002044Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1aabe13a-4fb6-4301-b818-129623d787b3 · outbound

This paper cites Unity: A General Platform for Intelligent Agents.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Unity: A General Platform for Intelligent Agents

Reference 20

Resolution: malformed identifier; arxiv_id, observed 2026-07-04T00:19:12.923779Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 6f1c087d-2510-4e5c-b5b5-a82ba1f2a83e · outbound

This paper cites Unity ML-Agents Toolkit: Example learning environments.https: //unity-technologies.github.io/ml-agents/Learning-Environment-Examples/, 2026.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Unity ML-Agents Toolkit: Example learning environments.https: //unity-technologies.github.io/ml-agents/Learning-Environment-Examples/, 2026

Reference 21

Resolution: unresolved; no resolver link, observed 2026-06-26T21:23:44.002044Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b643a3bf-319f-4c5d-a31d-7f81498b7ea7 · outbound

This paper cites Engelbrecht, Willie Brink, and Arnu Pretorius.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Engelbrecht, Willie Brink, and Arnu Pretorius

Reference 22

Resolution: verified exact; doi, observed 2026-06-26T21:30:02.885442Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation ff1cd8f0-51ba-4a58-bf69-30d4d6f2958c · outbound

This paper cites RoboCup 3D Soccer Simulation League.https://ssim.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning RoboCup 3D Soccer Simulation League.https://ssim

Reference 23

Resolution: unresolved; no resolver link, observed 2026-06-26T21:23:44.002044Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 76c041d4-57d5-4d14-8bd1-dd6fcc12d1fd · outbound

This paper cites 2020 , issn =.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning 2020 , issn =

Reference 24

Resolution: metadata mismatch; arxiv_id, observed 2026-06-26T21:30:02.889031Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation daa6bbe2-f5bb-4262-a447-9867303330aa · outbound

This paper cites Shimmy: DM Control multi-agent soccer documentation.https:// shimmy.farama.org/environments/dm_multi/, 2026.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Shimmy: DM Control multi-agent soccer documentation.https:// shimmy.farama.org/environments/dm_multi/, 2026

Reference 25

Resolution: unresolved; no resolver link, observed 2026-06-26T21:23:44.002044Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f916c4a1-f617-4616-b0be-c55aa695df0b · outbound

This paper cites Action valuation of on- and off-ball soccer players based on multi-agent deep reinforcement learning.IEEE Access, 11:131237–131244, 2023.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Action valuation of on- and off-ball soccer players based on multi-agent deep reinforcement learning.IEEE Access, 11:131237–131244, 2023

Reference 26

Resolution: verified exact; arxiv_id, observed 2026-06-26T21:30:02.892733Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation c1efdc5b-4442-4552-8b3d-204111aab634 · outbound

This paper cites LaurieOnTracking: EPV data.https://github.com/ Friends-of-Tracking-Data-FoTD/LaurieOnTracking.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning LaurieOnTracking: EPV data.https://github.com/ Friends-of-Tracking-Data-FoTD/LaurieOnTracking

Reference 27

Resolution: unresolved; no resolver link, observed 2026-06-26T21:23:44.002044Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 71626ce4-aacd-4137-91ad-78adfc2df075 · outbound

This paper cites The surprising effectiveness of PPO in cooperative multi-agent games.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning The surprising effectiveness of PPO in cooperative multi-agent games

Reference 28

Resolution: unresolved; no resolver link, observed 2026-06-26T21:23:44.002044Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d51061f4-74be-44b2-bbd7-d606cc69a913 · outbound

This paper cites Parametrized Deep Q-Networks Learning: Reinforcement Learning with Discrete-Continuous Hybrid Action Space.

R2D-RL: A RoboCup 2D Soccer Environment for Multi-Agent Reinforcement Learning Parametrized Deep Q-Networks Learning: Reinforcement Learning with Discrete-Continuous Hybrid Action Space

Reference 29

Resolution: verified exact; local_arxiv, observed 2026-06-26T21:30:02.886205Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Pith citing papers

No inbound Pith citation observations are available.