人工智能基于深度强化学习的足球团队合作，一起世界杯 The paper "From Motor Control to Team Play in Simulated Humanoid Football" is available here: https://www.science.org/doi/abs/10.1126/scirobotics.abo0235 https://arxiv.org/abs/2105.12196 https://www.nature.com/articles/s41567-022-01788-5