Design, analysis and control of the series-parallel hybrid RH5 humanoid robot. - Julian Eßer; Shivesh Kumar; Heiner Peters; Vinzenz Bargsten; Jose de Gea Fernandez; Carlos Mastalli; Olivier Stasse; Frank Kirchner (HUMANOIDS, 2021)

evoBOT - Design and Learning-Based Control of a Two-Wheeled Compound Inverted Pendulum Robot. - Patrick Klokowski; Julian Eßer; Nils Gramse; Benedikt Pschera; Marc Plitt; Frido Feldmeier; Shubham Bajpai; Christian Jestel; Nicolas Bach; Oliver Urbann; Sören Kerner (IROS, 2023)

Guided Reinforcement Learning: A Review and Evaluation for Efficient and Effective Real-World Robotics [Survey]. - Julian Eßer; Nicolas Bach; Christian Jestel; Oliver Urbann; Sören Kerner (IEEE Robotics Autom. Mag., 2023)

Action Space Design in Reinforcement Learning for Robot Motor Skills. - Julian Eßer; Gabriel B. Margolis; Oliver Urbann; Sören Kerner; Pulkit Agrawal 001 (CoRL, 2024)

Real-Time Predictive Scheduling for Networked Robot Control Using Digital Twins and OpenRAN. - Niklas A. Wagner; Julian Eßer; Irfan Fachrudin Priyanta; Fabian Kurtz; Moritz Roidl; Christian Wietfeld (GLOBECOM (Workshops), 2024)

MuRoSim - A Fast and Efficient Multi-Robot Simulation for Learning-based Navigation. - Christian Jestel; Karol Rösner; Niklas Dietz; Nicolas Bach; Julian Eßer; Jan Finke; Oliver Urbann (ICRA, 2024)

Humanoid Robotics: Integrating Cognitive and Physical Abilities for Human-Centered Environments [From the Guest Editors]. - Oliver Urbann; Fei Chen; Julian Eßer; Robert J. Griffin; Kenji Hashimoto; Fumio Kanehiro; Paul Oh; Olivier Stasse; Yuichi Tazaki (IEEE Robotics Autom. Mag., 2025)