Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams. - Zhi Su; Yuman Gao; Emily Lukas; Yunfei Li; Jiaze Cai; Faris Tulbah; Fei Gao; Chao Yu 005; Zhongyu Li 003; Yi Wu 013; Koushil Sreenath (CoRR, 2025)