Acknowledgements

We gratefully acknowledge the support given by SoftBank Robotics. We also would like to thank our team sponsor CONTACT Software and Alumni of the University of Bremen for funding parts of our project. Since B-Human did not start its software from scratch, we also want to thank the previous team members as well as the members of the GermanTeam for developing parts of the software we use.

In addition, we want to thank the authors of the following software that is used in our code:

• ar: The GNU archiver is used to create static libraries from (cross-compiled) object files.

• Artistic Style: Source code formatting in the script bstyle.

• AsmJit: A JIT assembler for C++.

• AT&T Graphviz: For generating the graphs shown in the options view and the module view of the simulator.

• ccache: A fast C/C++ compiler cache.

• Eigen: A C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.

• Flite: For speech synthesis on Linux (including the NAO).

• FFTW: For performing the Fourier transform when recognizing the sounds of whistles.

• gtest: A very powerful test framework.

• HDF5: For reading Keras model files.

• libjpeg-turbo: Used to compress and decompress images from the robot's camera.

• ld.lld: The LLVM linker is used to (cross-)link for Linux targets.

• MD5: To efficiently check for repeating image rows (in response to a problem with the NAO V6's cameras).

• ODE: For providing physics in the simulator.

• ONNX Runtime: For inference of neural networks on macOS on ARM processors, because CompiledNN currently only supports Intel processors.

• OpenGL Extension Wrangler Library: For determining which OpenGL extensions are supported by the platform.

• Qt: The GUI framework of the simulator.

• qtpropertybrowser: Extends the Qt framework with a property browser.

• sse2neon: For compiling SSE intrinsics on ARM Macs.

• Snappy: Used for decompressing legacy log files.