Jasin Cekinmez, Addison J. Wu, Haotian Xia +11cs.AI cs.CV
Vision--language models have become increasingly capable of interpreting visual scenes, but it remains unclear whether they can use information to make strategically effective decisions. We investigate this question in soccer, where models observe the seconds preceding an on-ball decision and must choose whether to shoot or pass to a specific teammate. Unlike conventional visual-understanding tasks, soccer enables decisions to be evaluated quantitatively by estimating the value of every available action. We introduce SportD, a benchmark comprising 478 on-ball decisions from the 2022 FIFA World Cup. Each model choice is evaluated against a possession-value model that estimates the action that most increases the attacking team's probability of scoring, allowing us to measure both optimal-action accuracy and the value forfeited by suboptimal decisions. Across three frontier VLMs, the best selects the highest-valued action on 31.4% of events, compared with 38.9% for the professional players, and all models incur significantly greater regret. Further analysis reveals a systematic preference for lower-variance and lower-reward actions: VLMs shoot less often and select substantially less progressive passes than either the optimal policy or the real players. The models also reproduce the player's specific action above chance even when that action is suboptimal, suggesting partial imitation of familiar play patterns rather than consistent evaluation of counterfactual alternatives. SportD provides a value-grounded testbed for measuring physical strategic reasoning in VLMs.
This paper presents our solution to the 2026 SoccerNet VQA Challenge. We first develop a cost-effective data synthesis pipeline driven by a Vision-Language Model (VLM), which systematically restructures raw domain data into diverse VQA samples, including concise answers and long-form responses. Second, we propose MSUE, a multi-expert question answering architecture that employs a Large Language Model (LLM) to dynamically dispatch questions to text, image, and video experts. These experts are instantiated as a strong text baseline Gemini3-Flash, a fine-tuned Qwen3-VL, and an external knowledge base, respectively, working collaboratively to enhance VQA performance. MSUE achieves an accuracy of \textbf{0.95} on the challenge benchmark, securing third place in the leaderboard.
Elite humanoid soccer shooting requires whole-body stability, high-impulse whole-body interactions, and accuracy to targets. Motion tracking-driven reinforcement learning (RL) provides stability in whole-body movement coordination, but a fixed reference makes it hard to adapt to varied ball positions and strike timings; in contrast, task reward-driven RL struggles to explore and discover valid kicks from scratch. We therefore introduce RoboNaldo, a three-stage motion-guided curriculum RL framework for high-impulse humanoid interaction. A single human-kick reference is used as a scaffold and progressively shifts optimization towards shooting performance. The curriculum first learns a stable whole-body kicking prior, then adapts the kick to free-kick settings where the ball is stationary at random positions, and finally extends it to moving-ball shooting through a locomotion-command and kick-trigger interface. A high-level heuristic planner controls this interface during training, while alternative high-level controllers can drive the same low-level policy at inference. In simulation, RoboNaldo demonstrates free-kick shot error 48.6% lower and shoot velocity 2.96x than prior work baselines. In real world on a Unitree G1 with onboard perception, RoboNaldo attains 0.73 m and 0.86 m average target shooting error from 3 m away in free-kick and moving-ball cases, accordingly. And the post-contact ball velocity reaches 13.10 m/s, which is 59-71% of reported professional open-play shot speed. Project page: $\href{https://opendrivelab.com/RoboNaldo}{\text{opendrivelab.com/RoboNaldo}}$.