Xin Guo, Haotian Xia, Zhaowei Liu, Hanyang Cao, Zhi Yang, Zhiqiang Liu, Sizhe Wang, Jinyi Niu, Chuqi Wang, Yanhui Wang, Xiaolong Liang, Xiaoming Huang, Bing Zhu, Zhongyu Wei, Yun Chen, Weining Shen, Liwen Zhang. Proceedings of the 2025 Conference of the Nations of the Americas Chapter of the Association for Computational Linguistics: Human Language Technologies (Volume 1: Long Papers). 2025.

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.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 reinforcement learning (RL), multi-agent reinforcement learning (MARL) and game-theoretic algorithms. Simulation results show that on-policy 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, demonstrating its potential for tackling the complex interplay between low-level control and high-level strategy.To highlight VolleyBots’ sim-to-real potential, we further demonstrate the zero-shot deployment of a policy trained entirely in simulation on real-world drones.