VolleyBots: A Testbed for Multi-Drone Volleyball Game Combining Motion Control and Strategic Play
Zelai Xu, Ruize Zhang, Chao Yu, Huining Yuan, Xiangmin Yi, Shilong Ji, Chuqi Wang, Wenhao Tang, Feng Gao, Wenbo Ding, Xinlei Chen, Yu Wang
Robot sports, characterized by well-defined objectives, explicit rules, and dynamic interactions, present ideal scenarios for demonstrating embodied intelligence. In this paper, we present VolleyBots, a novel robot sports testbed where multiple drones cooperate and compete in the sport of volleyball under physical dynamics. VolleyBots integrates three features within a unified platform: competitive and cooperative gameplay, turn-based interaction structure, and agile 3D maneuvering. Competitive and cooperative gameplay challenges each drone to coordinate with its teammates while anticipating and countering opposing teams’ tactics.Turn-based interaction demands precise timing, accurate state prediction, and management of long-horizon temporal dependencies.Agile 3D maneuvering requires rapid accelerations, sharp turns, and precise 3D positioning despite the quadrotor’s underactuated dynamics.These intertwined features yield a complex problem combining motion control and strategic play, with no available expert demonstrations.We provide a comprehensive suite of tasks ranging from single-drone drills to multi-drone cooperative and competitive tasks, accompanied by baseline evaluations of representative multi-agent reinforcement learning (MARL) and game-theoretic algorithms. Simulation results show that on-policy reinforcement learning (RL) methods outperform off-policy methods in single-agent tasks, but both approaches struggle in complex tasks that combine motion control and strategic play.We additionally design a hierarchical policy which achieves 69.5% win rate against the strongest baseline in the 3 vs 3 task, underscoring its potential as an effective solution for tackling the complex interplay between low-level control and high-level strategy.The project page is at https://sites.google.com/view/volleybots.