Dear RoboCup 2021 Standard Platform League Technical and Organizing Committees, Dear RoboCup SPL teams,

in accordance with the terms and conditions of the B-Human code release license, the SPQR Team announces the use of the B-Human code for the ongoing RoboCup 2021.

We use some of the native B-Human modules including walking, simulation, whistle recognition, calibration, and behavior design system. Instead, we use our own code for perception, coordination, and multi-robot distributed decision making.

The following parts of the SPQR Team code are original: - Visual perception - Team coordination - Data fusion among the robots - Behaviors - Motion primitives (besides get-ups) - Reinforcement Learning Integration

The following parts are modifications of the original B-Human code: - Localization - Communication network

We would like to thank the B-Human Team for sharing their code and acknowledge their contribution to the RoboCup SPL. We finally apologize for the delayed communication.

Kind regards, Vincenzo Suriani, on behalf of the SPQR Team