  Collecting and maintaining accurate world knowledge in a dynamic, complex,
adversarial, and stochastic environment such as the RoboCup 3D Soccer
Simulation is a challenging task. Knowledge should be learned in real-time with
time constraints. We use recently introduced Off-Policy Gradient Descent
algorithms within Reinforcement Learning that illustrate learnable knowledge
representations for dynamic role assignments. The results show that the agents
have learned competitive policies against the top teams from the RoboCup 2012
competitions for three vs three, five vs five, and seven vs seven agents. We
have explicitly used subsets of agents to identify the dynamics and the
semantics for which the agents learn to maximize their performance measures,
and to gather knowledge about different objectives, so that all agents
participate effectively and efficiently within the group.
