  Individual and team capabilities are challenged every year by rule changes
and the increasing performance of the soccer teams at RoboCup Humanoid League.
For RoboCup 2019 in the AdultSize class, the number of players (2 vs. 2 games)
and the field dimensions were increased, which demanded for team coordination
and robust visual perception and localization modules. In this paper, we
present the latest developments that lead team NimbRo to win the soccer
tournament, drop-in games, technical challenges and the Best Humanoid Award of
the RoboCup Humanoid League 2019 in Sydney. These developments include a deep
learning vision system, in-walk kicks, step-based push-recovery, and team play
strategies.
