Rhoban Football Club: RoboCup Humanoid KidSize 2019 Champion Team Paper

In 2019, Rhoban Football Club reached the first place of the KidSize soccer competition for the fourth time and performed the first in-game throw-in in the history of the Humanoid league. Building on our existing code-base, we improved some specific functionalities, introduced new behaviors and experimented with original methods for labeling videos. This paper presents and reviews our latest changes to both software and hardware, highlighting the lessons learned during RoboCup.