Azad, A. S., E. Kim, Q. Wu, K. Lee, I. Stoica, P. Abbeel, A. Sangiovanni-Vincentelli, and S. A. Seshia. “Programmatic Modeling and Generation of Real-Time Strategic Soccer Environments for Reinforcement Learning”. Proceedings of the AAAI Conference on Artificial Intelligence, vol. 36, no. 6, June 2022, pp. 6028-36, doi:10.1609/aaai.v36i6.20549.