camera image and sending/receiving sound. Aibnet offers a development environment for R-Code programming. Simplified drag-and-drop customizing of behavior is available via the user-created YART ("Yet Another RCode Tool ") AIBO Remote Framework Remotely access capabilities of AIBO MIND including behaviors and pattern recognition from a Windows PC. Same functionality used in the Aibo Entertainment Player. The AIBO Remote Framework is a Windows PC API based on Visual C++. The Framework can be used to write code that can remotely control an AIBO running MIND2 or MIND3 Aiboware via a wireless LAN. Commercial usage is allowed, and the license fee is free. Other Development Environments Several robot software development frameworks have been developed that support AIBOs, including URBI, Tekkotsu, and Pyro. Current Projects AiBO+ is a replacement personality for Sony ERS-7. The project provides an AEP-like application (AiBO+ Client) to connect to the robot under Ubuntu Linux, Windows, Mac OS X, iOS, and Android. The owner can control the dog, play a game and see the robot state. AIBO Control allows Android users to control AIBO ERS-7's running URBI. The Open-R and GCC based toolchain has been updated by the community to use GCC 5.4, Binutils 2.24 and Newlib 1.15. This improvement brings the latest C++11/C++14 features and modern software to program the robot. The packaged version of the old and updated AIBO toolchain is available for Ubuntu in a PPA. AIBOs in education and academia AIBO's were used extensively in education. For example, Carnegie Mellon offered an AIBO-centred robotics course covering models of perception, cognition, and action for solving problems. Robotbenchmark also features an online simulation challenge based on an Aibo ERS-7 model called "Visual Tracking". RoboCup Four-Legged League The AIBO has seen much use as an inexpensive platform for artificial intelligence education and research because it integrates a computer, vision system, and articulators in a package vastly cheaper than conventional research robots. One focal point for that development has been the Robocup Leagues. The Four-Legged League was the initial name for the RoboCup Standard Platform League, a robot soccer league in which all teams compete with identical robots. The robots operate fully autonomously, with no external control by humans nor computers. The specific AIBO version changed over time: ERS-110s (1999–2000), ERS-210 (2001–2002), ERS-210A SuperCore (2003), ERS-7 (2004–2008). The replacement and current standard platform is the humanoid NAO by Aldebaran Robotics. Sony provided AIBOs support and sponsorship to universities around