| 2024 | RoboCup | Soccer Gameplay Data Generation: Toward Integrating Computer Simulations and Human Sports Analysis. | Hidehisa Akiyama, Tomoharu Nakashima |
| 2024 | RoboCup | HELIOS2024: RoboCup Soccer Simulation 2D Competition Champion. | Hidehisa Akiyama, Tomoharu Nakashima, Takumi Fujikawa, Akei Hishiki, Shota Yano, Sota Okayama |
| 2023 | RoboCup | HELIOS2023: RoboCup 2023 Soccer Simulation 2D Competition Champion. | Hidehisa Akiyama, Tomoharu Nakashima, Kyo Hatakeyama, Takumi Fujikawa, Akei Hishiki |
| 2022 | RoboCup | HELIOS2022: RoboCup 2022 Soccer Simulation 2D Competition Champion. | Hidehisa Akiyama, Tomoharu Nakashima, Kyo Hatakeyama, Takumi Fujikawa |
| 2019 | RoboCup | Similarity Analysis of Action Trajectories Based on Kick Distributions. | Takuya Fukushima, Tomoharu Nakashima, Hidehisa Akiyama |
| 2019 | RoboCup | Game-Watching Should be More Entertaining: Real-Time Application of Field-Situation Prediction to a Soccer Monitor. | Yudai Suzuki, Takuya Fukushima, La Thibout, Tomoharu Nakashima, Hidehisa Akiyama |
| 2018 | RoboCup | HELIOS2018: RoboCup 2018 Soccer Simulation 2D League Champion. | Hidehisa Akiyama, Tomoharu Nakashima, Takuya Fukushima, Jiarun Zhong, Yudai Suzuki, An Ohori |
| 2018 | RoboCup | Mimicking an Expert Team Through the Learning of Evaluation Functions from Action Sequences. | Takuya Fukushima, Tomoharu Nakashima, Hidehisa Akiyama |
| 2017 | RoboCup | Online Opponent Formation Identification Based on Position Information. | Takuya Fukushima, Tomoharu Nakashima, Hidehisa Akiyama |
| 2016 | RoboCup | Selecting the Best Player Formation for Corner-Kick Situations Based on Bayes' Estimation. | Jordan Henrio, Thomas Henn, Tomoharu Nakashima, Hidehisa Akiyama |
| 2014 | RoboCup | On the Progress of Soccer Simulation Leagues. | Hidehisa Akiyama, Klaus Dorer, Nuno Lau |
| 2013 | RoboCup | HELIOS Base: An Open Source Package for the RoboCup Soccer 2D Simulation. | Hidehisa Akiyama, Tomoharu Nakashima |
| 2012 | RoboCup | HELIOS2012: RoboCup 2012 Soccer Simulation 2D League Champion. | Hidehisa Akiyama, Tomoharu Nakashima |
| 2007 | RoboCup | Multi-agent Positioning Mechanism in the Dynamic Environment. | Hidehisa Akiyama, Itsuki Noda |