These two videos come from the Darmstadt Dribblers, whom you may remember as the victors in the KidSize bracket at RoboCup 2010. They show the robots practicing both human-style throw-ins, and a skilled passing game that avoids obstacles, all completely autonomously:

[video=youtube;JI70HGK35gI]https://www.youtube.com/watch?v=JI70HGK35gI&feature=player_embedded[/video]

[video=youtube;8Vg9OHSGPeU]https://www.youtube.com/watch?v=8Vg9OHSGPeU&feature=player_embedded[/video]