diff --git a/Dockerfile.dev b/Dockerfile.dev
index cc264dc872e..62e03139457 100644
--- a/Dockerfile.dev
+++ b/Dockerfile.dev
@@ -10,6 +10,12 @@ ENV DISPLAY=:1
 ARG TARGETARCH
 ENV TARGETARCH=${TARGETARCH}
 
+RUN if [ -z TARGETARCH] then \
+    echo "****************************** ERROR ******************************"; \
+    echo "No target architecture was given. TARGETARCH is a required argument."; \
+    exit 1; \
+    fi
+
 # Update the package list and install necessary packages, including the missing ones
 RUN apt-get update && \
     apt-get install -y \
@@ -68,6 +74,14 @@ RUN git clone https://github.com/robotics-erlangen/framework.git /root/framework
     cmake .. && \
     make simulator-cli
 
+# Clone, build ER-Force's autoref
+RUN git clone https://github.com/robotics-erlangen/autoref.git /root/autoref && \
+    cd /root/autoref && \
+    git submodule update --init && \
+    mkdir build && cd build && \
+    cmake .. && \
+    make
+
 # Use bash to source the ROS2 setup file and run make perf
 RUN bash -c "source /opt/ros/humble/setup.bash && \
     cd /root/robocup-software && \
diff --git a/soccer/src/soccer/ui/main_window.cpp b/soccer/src/soccer/ui/main_window.cpp
index 3b2a59a9d36..39dac69563d 100644
--- a/soccer/src/soccer/ui/main_window.cpp
+++ b/soccer/src/soccer/ui/main_window.cpp
@@ -1158,6 +1158,14 @@ void MainWindow::on_fastYellow_clicked() {
     send_quick_command(PlayState::ready_free_kick(!context_->blue_team));
 }
 
+void MainWindow::on_fastPenaltyBlue_clicked() {
+    send_quick_command(PlayState::ready_penalty(context_->blue_team));
+}
+
+void MainWindow::on_fastPenaltyYellow_clicked() {
+    send_quick_command(PlayState::ready_penalty(!context_->blue_team));
+}
+
 bool MainWindow::live() { return !_playbackRate; }
 void MainWindow::updateDebugLayers(const LogFrame& frame) {
     // Check if any debug layers have been added
diff --git a/soccer/src/soccer/ui/main_window.hpp b/soccer/src/soccer/ui/main_window.hpp
index cb708dd6111..61cf24a6c40 100644
--- a/soccer/src/soccer/ui/main_window.hpp
+++ b/soccer/src/soccer/ui/main_window.hpp
@@ -163,6 +163,8 @@ private Q_SLOTS:
     void on_fastKickoffYellow_clicked();
     void on_fastBlue_clicked();
     void on_fastYellow_clicked();
+    void on_fastPenaltyBlue_clicked();
+    void on_fastPenaltyYellow_clicked();
 
     // Robot Position Dropdowns and Reset Buttons
     void on_robotPosition_0_currentIndexChanged(int value);
diff --git a/soccer/src/soccer/ui/qt/MainWindow.ui b/soccer/src/soccer/ui/qt/MainWindow.ui
index 7f63b4c2db3..8b1a3a22d86 100644
--- a/soccer/src/soccer/ui/qt/MainWindow.ui
+++ b/soccer/src/soccer/ui/qt/MainWindow.ui
@@ -263,6 +263,47 @@
            </property>
           </spacer>
          </item>
+         <item>
+          <layout class="QVBoxLayout" name="Penalties">
+           <item>
+            <widget class="QPushButton" name="fastPenaltyBlue">
+             <property name="icon">
+              <iconset resource="main_icons.qrc">
+               <normaloff>:/icons/penalty_blue.svg</normaloff>:/icons/penalty_blue.svg</iconset>
+             </property>
+             <property name="iconSize">
+              <size>
+               <width>24</width>
+               <height>24</height>
+              </size>
+             </property>
+             <property name="flat">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QPushButton" name="fastPenaltyYellow">
+             <property name="text">
+              <string/>
+             </property>
+             <property name="icon">
+              <iconset resource="main_icons.qrc">
+               <normaloff>:/icons/penalty_yellow.svg</normaloff>:/icons/penalty_yellow.svg</iconset>
+             </property>
+             <property name="iconSize">
+              <size>
+               <width>24</width>
+               <height>24</height>
+              </size>
+             </property>
+             <property name="flat">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
          <item>
           <layout class="QVBoxLayout" name="Kickoffs">
            <item>
@@ -1813,7 +1854,6 @@
            </item>
           </layout>
          </widget>
-
          <widget class="QWidget" name="joystickTab">
           <attribute name="title">
            <string>Joystick</string>
@@ -1975,7 +2015,7 @@
              <height>671</height>
             </rect>
            </property>
-           <layout class="QGridLayout" name="positions_gridLayout" rowstretch="0" columnstretch="0,0,0,0" rowminimumheight="0">
+           <layout class="QGridLayout" name="positions_gridLayout" rowstretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0" columnstretch="0,0,0,0" rowminimumheight="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0">
             <property name="leftMargin">
              <number>11</number>
             </property>
@@ -2058,7 +2098,6 @@
               </property>
              </widget>
             </item>
-
             <item row="1" column="1">
              <widget class="QLabel" name="positionsLabel_1">
               <property name="text">
@@ -2129,7 +2168,6 @@
               </property>
              </widget>
             </item>
-
             <item row="2" column="1">
              <widget class="QLabel" name="positionsLabel_2">
               <property name="text">
@@ -2200,7 +2238,6 @@
               </property>
              </widget>
             </item>
-
             <item row="3" column="1">
              <widget class="QLabel" name="positionsLabel_3">
               <property name="text">
@@ -2271,7 +2308,6 @@
               </property>
              </widget>
             </item>
-
             <item row="4" column="1">
              <widget class="QLabel" name="positionsLabel_4">
               <property name="text">
@@ -2342,7 +2378,6 @@
               </property>
              </widget>
             </item>
-
             <item row="5" column="1">
              <widget class="QLabel" name="positionsLabel_5">
               <property name="text">
@@ -2413,7 +2448,6 @@
               </property>
              </widget>
             </item>
-
             <item row="6" column="1">
              <widget class="QLabel" name="positionsLabel_6">
               <property name="text">
@@ -2484,7 +2518,6 @@
               </property>
              </widget>
             </item>
-
             <item row="7" column="1">
              <widget class="QLabel" name="positionsLabel_7">
               <property name="text">
@@ -2555,7 +2588,6 @@
               </property>
              </widget>
             </item>
-
             <item row="8" column="1">
              <widget class="QLabel" name="positionsLabel_8">
               <property name="text">
@@ -2626,7 +2658,6 @@
               </property>
              </widget>
             </item>
-
             <item row="9" column="1">
              <widget class="QLabel" name="positionsLabel_9">
               <property name="text">
@@ -2697,7 +2728,6 @@
               </property>
              </widget>
             </item>
-
             <item row="10" column="1">
              <widget class="QLabel" name="positionsLabel_10">
               <property name="text">
@@ -2768,7 +2798,6 @@
               </property>
              </widget>
             </item>
-
             <item row="11" column="1">
              <widget class="QLabel" name="positionsLabel_11">
               <property name="text">
@@ -2839,7 +2868,6 @@
               </property>
              </widget>
             </item>
-
             <item row="12" column="1">
              <widget class="QLabel" name="positionsLabel_12">
               <property name="text">
@@ -2910,7 +2938,6 @@
               </property>
              </widget>
             </item>
-
             <item row="13" column="1">
              <widget class="QLabel" name="positionsLabel_13">
               <property name="text">
@@ -2981,7 +3008,6 @@
               </property>
              </widget>
             </item>
-
             <item row="14" column="1">
              <widget class="QLabel" name="positionsLabel_14">
               <property name="text">
@@ -3052,7 +3078,6 @@
               </property>
              </widget>
             </item>
-
             <item row="15" column="1">
              <widget class="QLabel" name="positionsLabel_15">
               <property name="text">
@@ -3123,7 +3148,6 @@
               </property>
              </widget>
             </item>
-
            </layout>
           </widget>
          </widget>
@@ -3140,7 +3164,7 @@
      <x>0</x>
      <y>0</y>
      <width>1331</width>
-     <height>24</height>
+     <height>25</height>
     </rect>
    </property>
    <widget class="QMenu" name="menu_View">
diff --git a/soccer/src/soccer/ui/qt/main_icons.qrc b/soccer/src/soccer/ui/qt/main_icons.qrc
index 5a300de1762..f1088ecf2c6 100644
--- a/soccer/src/soccer/ui/qt/main_icons.qrc
+++ b/soccer/src/soccer/ui/qt/main_icons.qrc
@@ -5,6 +5,8 @@
     <file>force_start.svg</file>
     <file>kickoff_blue.svg</file>
     <file>kickoff_yellow.svg</file>
+    <file>penalty_blue.svg</file>
+    <file>penalty_yellow.svg</file>
     <file>direct_blue.svg</file>
     <file>direct_yellow.svg</file>
     <file>indirect_blue.svg</file>
diff --git a/soccer/src/soccer/ui/qt/penalty_blue.svg b/soccer/src/soccer/ui/qt/penalty_blue.svg
new file mode 100644
index 00000000000..6b3f1122622
--- /dev/null
+++ b/soccer/src/soccer/ui/qt/penalty_blue.svg
@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="24"
+   height="24"
+   id="svg3264"
+   sodipodi:version="0.32"
+   inkscape:version="0.92.3 (3ce5693, 2018-03-11)"
+   version="1.0"
+   sodipodi:docname="kickoff_blue.svg"
+   inkscape:output_extension="org.inkscape.output.svg.inkscape">
+  <defs
+     id="defs3266">
+    <inkscape:perspective
+       sodipodi:type="inkscape:persp3d"
+       inkscape:vp_x="0 : 526.18109 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_z="744.09448 : 526.18109 : 1"
+       inkscape:persp3d-origin="372.04724 : 350.78739 : 1"
+       id="perspective3272" />
+  </defs>
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     gridtolerance="10000"
+     guidetolerance="10"
+     objecttolerance="10"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="32"
+     inkscape:cx="17.970654"
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+     inkscape:document-units="px"
+     inkscape:current-layer="layer1"
+     showgrid="false"
+     inkscape:window-width="2902"
+     inkscape:window-height="1964"
+     inkscape:window-x="98"
+     inkscape:window-y="36"
+     inkscape:window-maximized="1" />
+  <metadata
+     id="metadata3269">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     inkscape:label="Layer 1"
+     inkscape:groupmode="layer"
+     id="layer1"
+     transform="translate(0,-104)">
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-weight:normal;font-size:40px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000080;fill-opacity:1;stroke:none"
+       x="-0.3984375"
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+       id="text817"><tspan
+         sodipodi:role="line"
+         id="tspan815"
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+         style="font-size:32px;line-height:2;fill:#000080;fill-opacity:1">P</tspan></text>
+  </g>
+</svg>
diff --git a/soccer/src/soccer/ui/qt/penalty_yellow.svg b/soccer/src/soccer/ui/qt/penalty_yellow.svg
new file mode 100644
index 00000000000..8e72b5e7af6
--- /dev/null
+++ b/soccer/src/soccer/ui/qt/penalty_yellow.svg
@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="24"
+   height="24"
+   id="svg3264"
+   sodipodi:version="0.32"
+   inkscape:version="0.92.3 (3ce5693, 2018-03-11)"
+   version="1.0"
+   sodipodi:docname="kickoff_yellow.svg"
+   inkscape:output_extension="org.inkscape.output.svg.inkscape">
+  <defs
+     id="defs3266">
+    <inkscape:perspective
+       sodipodi:type="inkscape:persp3d"
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+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
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+     guidetolerance="10"
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+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
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