CHiMP: A Contact based Hilbert Map Planner. - Constantin Uhde; Emmanuel C. Dean-Leon; Gordon Cheng (ICRA, 2019)

The Robot as Scientist: Using Mental Simulation to Test Causal Hypotheses Extracted from Human Activities in Virtual Reality. - Constantin Uhde; Nicolas Berberich; Karinne Ramirez-Amaro; Gordon Cheng (IROS, 2020)

Learning Causal Relationships of Object Properties and Affordances Through Human Demonstrations and Self-Supervised Intervention for Purposeful Action in Transfer Environments. - Constantin Uhde; Nicolas Berberich; Hao Ma; Rogelio Guadarrama; Gordon Cheng (IEEE Robotics Autom. Lett., 2022)

End-to-End Visuomotor Learning from Virtual Environment to Real Robot. - Kei Higuchi; Constantin Uhde; Gordon Cheng; Ixchel Georgina Ramirez-Alpizar; Gentiane Venture; Natsuki Yamanobe (CASE, 2024)