Steve Heim

Steve Heim

heim.steve -at- gmail.com

Posts by Collection

publications

On designing an active tail for body-pitch control in legged robots via decoupling of control objectives

Published in In the proceedings of ASSISTIVE ROBOTICS: Proceedings of the 18th International Conference on CLAWAR 2015, 2015

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Recommended citation: Steve Heim, Mostafa Ajallooeian, Peter Eckert, Massimo Vespignani, Auke Ijspeert, "On designing an active tail for body-pitch control in legged robots via decoupling of control objectives." In the proceedings of ASSISTIVE ROBOTICS: Proceedings of the 18th International Conference on CLAWAR 2015, 2015.

Learning from outside the viability kernel: Why we should build robots that can fall with grace

Published in In the proceedings of Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2018

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Recommended citation: S. {Heim}, A. {Spr\"{o}witz}, "Learning from outside the viability kernel: Why we should build robots that can fall with grace." In the proceedings of Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2018.

Learning from outside the viability kernel: Why we should build robots that can fall with grace

Published in In the proceedings of International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2018

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Recommended citation: S. {Heim}, A. {Spr\"{o}witz}, "Learning from outside the viability kernel: Why we should build robots that can fall with grace." In the proceedings of International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2018.

A Learnable Safety Measure

Published in In the proceedings of Conference on Robot Learning (CoRL), 2019

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Recommended citation: Steve Heim, Alexander Rohr, Sebastian Trimpe, Alexander Badri-Spr{\"o}witz, "A Learnable Safety Measure." In the proceedings of Conference on Robot Learning (CoRL), 2019.

An open torque-controlled modular robot architecture for legged locomotion research

Published in IEEE Robotics and Automation Letters (RAL), 2020

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Recommended citation: Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel W{\"u}thrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Thomas Flayols, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti, "An open torque-controlled modular robot architecture for legged locomotion research." IEEE Robotics and Automation Letters (RAL), 2020.

On exploration requirements for learning safety constraints

Published in In the proceedings of Learning for Dynamics and Control (L4DC), 2021

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Recommended citation: Pierre-Fran{\c{c}}ois Massiani, Steve Heim, Sebastian Trimpe, "On exploration requirements for learning safety constraints." In the proceedings of Learning for Dynamics and Control (L4DC), 2021.

Safe Value Functions

Published in IEE Transactions on Automatic Control, 2021

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Recommended citation: Pierre-Fran{\c{c}}ois Massiani, Steve Heim, Friedrich Solowjow, Sebastian Trimpe, "Safe Value Functions." arXiv preprint arXiv:2105.12204, 2021.

Safe value functions

Published in IEEE Transactions on Automatic Control (TAC), 2022

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Recommended citation: Pierre-Fran{\c{c}}ois Massiani, Steve Heim, Friedrich Solowjow, Sebastian Trimpe, "Safe value functions." IEEE Transactions on Automatic Control (TAC), 2022.

Benchmarking potential based rewards for learning humanoid locomotion

Published in In the proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2023

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Recommended citation: Se Jeon, Steve Heim, Charles Khazoom, Sangbae Kim, "Benchmarking potential based rewards for learning humanoid locomotion." In the proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2023.

Optimal scheduling of models and horizons for model hierarchy predictive control

Published in In the proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2023

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Recommended citation: Charles Khazoom, Steve Heim, Daniel Gonzalez-Diaz, Sangbae Kim, "Optimal scheduling of models and horizons for model hierarchy predictive control." In the proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2023.

Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback

Published in In the proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2024

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Recommended citation: Jenny Zhang, Steve Heim, Se Jeon, Sangbae Kim, "Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback." In the proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2024.