@article{soccerdiffusiontowardlearningendtoend,
  title = {SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings},
  author = {Florian Vahl and Jörn Griepenburg and Jan Gutsche and Jasper Güldenstein and Jianwei Zhang},
  year = {2025},
  eprint = {2504.20808},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2504.20808v1},
}