The RoboCup Soccer Simulation 2D Competition is the old-
est of the RoboCup competitions. The 2D soccer simulator enables
two teams of simulated autonomous agents to play a game of soccer
with realistic rules and sophisticated game play. This paper introduces
the RoboCup 2023 Soccer Simulation 2D Competition champion team,
HELIOS2023, a united team from Okayama University of Science and
Osaka Metropolitan University. The overview of the team’s recent efforts
is also described. The first one is the enhancement of the visual debugger.
The second is an approach about applying learning to rank to decision
making.
