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Steve Heim

FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning

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Feb 21, 2024
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Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback

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Feb 17, 2024
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Benchmarking Potential Based Rewards for Learning Humanoid Locomotion

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Jul 19, 2023
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Learning Fast and Precise Pixel-to-Torque Control

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Aug 03, 2022
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Safe Value Functions

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May 25, 2021
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A Learnable Safety Measure

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Oct 07, 2019
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An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research

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Sep 30, 2019
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Beyond Basins of Attraction: Evaluating Robustness of Natural Dynamics

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Jun 21, 2018
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Learning from Outside the Viability Kernel: Why we Should Build Robots that can Fall with Grace

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Jun 18, 2018
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Shaping in Practice: Training Wheels to Learn Fast Hopping Directly in Hardware

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Mar 07, 2018
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