gregory kuhlmann rltgaaxccsutexasedu please accept apologies receive multiple copies message due crossposting hi pleased announce release keepaway benchmark player framework source code use 2d soccer server used robocup case unfamiliar keepaway domain subtask soccer team keepers tries maintain possession ball within small playing region opposing team takers tries take ball away domain used successfully past machine learning testbed see following publications information peter stone richard sutton gregory kuhlmann scaling reinforcement learning toward robocup soccer httpwwwcsutexasedukuhlmannpapersb2hdab2004scalinghtml gregory kuhlmann peter stone progress learning 3 vs 2 keepaway httpwwwcsutexasedukuhlmannpapersb2hdlnai2003keepawayhtml version 01 framework available download keepaway website httpwwwcsutexaseduaustinvillasimkeepaway package contains source code keepaway benchmark player framework source code keepaway utility programs framework includes low midlevel keepaway behaviors example highlevel policies included included learning code however framework designed make easy insert learning code also included page two tutorials first tutorial explains stepbystep install players run simulation generate graph learning curve second tutorial explains modify players include learning code please let us know questions also would like hear using code cheers greg kuhlmann peter stone tue 05 aug 2008 195535 0800 uai keepaway learning testbed release