This talk focuses on Deep Reinforcement Learning (DRL) to create robust humanoid robotic skills and its application in the context of the FC Portugal 3D team, RoboCup simulation 3D league champion in 2022 and 2023. 

The talk will outline the fundamental principles of DRL, including its distinguishing features, such as learning from delayed rewards, handling the exploration-exploitation trade-off, and operating in complex, highly dimensional, dynamic environments.

The talk will outline several methodologies developed in the context of the FC Portugal team to be able to use DRL, in a very efficient way, speeding up its training by more than 100 times, for creating advanced humanoid robotic skills such as kicking, running and dribbling. 

The talk will be complemented with simple practical exercises and examples.