Shaping in Practice: Training Wheels to Learn Fast Hopping Directly in Hardware. - Steve Heim; Felix Ruppert; Alborz A. Sarvestani; Alexander Spröwitz (ICRA, 2018)

Learning from outside the viability kernel: Why we should build robots that can fall with grace. - Steve Heim; Alexander Spröwitz (SIMPAR, 2018)

Beyond Basins of Attraction: Evaluating Robustness of Natural Dynamics. - Steve Heim; Alexander Spröwitz (CoRR, 2018)

A Learnable Safety Measure. - Steve Heim; Alexander von Rohr; Sebastian Trimpe; Alexander Badri-Spröwitz (CoRL, 2019)

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. - Felix Grimminger; Avadesh Meduri; Majid Khadiv; Julian Viereck; Manuel Wüthrich; Maximilien Naveau; Vincent Berenz; Steve Heim; Felix Widmaier; Jonathan Fiene; Alexander Badri-Spröwitz; Ludovic Righetti (CoRR, 2019)

Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics. - Steve Heim; Alexander Spröwitz (IEEE Trans. Robotics, 2019)

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. - Felix Grimminger; Avadesh Meduri; Majid Khadiv; Julian Viereck; Manuel Wüthrich; Maximilien Naveau; Vincent Berenz; Steve Heim; Felix Widmaier; Thomas Flayols; Jonathan Fiene; Alexander Badri-Spröwitz; et al. (IEEE Robotics Autom. Lett., 2020)

On exploration requirements for learning safety constraints. - Pierre-François Massiani; Steve Heim; Sebastian Trimpe (L4DC, 2021)

Learning Fast and Precise Pixel-to-Torque Control. - Steffen Bleher; Steve Heim; Sebastian Trimpe (CoRR, 2022)

Learning Fast and Precise Pixel-to-Torque Control: A Platform for Reproducible Research of Learning on Hardware. - Steffen Bleher; Steve Heim; Sebastian Trimpe (IEEE Robotics Autom. Mag., 2022)

Benchmarking Potential Based Rewards for Learning Humanoid Locomotion. - Se Hwan Jeon; Steve Heim; Charles Khazoom; Sangbae Kim (ICRA, 2023)

Optimal Scheduling of Models and Horizons for Model Hierarchy Predictive Control. - Charles Khazoom; Steve Heim; Daniel González-Díaz; Sangbae Kim (ICRA, 2023)

Safe Value Functions. - Pierre-François Massiani; Steve Heim; Friedrich Solowjow; Sebastian Trimpe (IEEE Trans. Autom. Control., 2023)

FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning. - Chenhao Li; Elijah Stanger-Jones; Steve Heim; Sangbae Kim (ICLR, 2024)

Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback. - Jenny Zhang; Steve Heim; Se Hwan Jeon; Sangbae Kim (ICRA, 2024)