  In 2019, Rhoban Football Club reached the first place of the KidSize soccer
competition for the fourth time and performed the first in-game throw-in in the
history of the Humanoid league. Building on our existing code-base, we improved
some specific functionalities, introduced new behaviors and experimented with
original methods for labeling videos. This paper presents and reviews our
latest changes to both software and hardware, highlighting the lessons learned
during RoboCup.
