The Romanian team first achieved wide-scale success at the 1976 Summer Olympics with the tremendous performance of Nadia Comăneci. Since then, using the centralized training system pioneered by Béla Károlyi, they have been a dominant force in both team and individual events in WAG. With the exception of the defeat of the Soviet women's team by the Czechoslovakian women's team at the 1966 World Championships, Romania was the only team ever to defeat the Soviets in head-to-head competition at the World Championships/Olympic level with their victories at the 1979 and 1987 Worlds. Their women's teams have also won team medals at every Olympics from 1976 to 2012 inclusive, including three victories in 1984, 2000, and 2004. At the 16 World Championships from 1978 to 2007 inclusive, the women's team failed to medal only twice (in 1981 and 2006) and has won the team title seven times, including five victories in a row (1994–2001). From 1976 to 2000, they placed notable gymnasts such as Daniela Silivaş, Lavinia Miloşovici, and Simona Amânar on the Olympic all-around podium at every Olympics, and have usually done the same for the individual events at the World Championships through 2015, producing World all-around champions Aurelia Dobre and Maria Olaru.