@conference{heim_learning_2018, title = {Learning from Outside the Viability Kernel: Why we Should Build Robots that can Fail with Grace}, author = {Heim, Steve and Sproewitz, Alexander}, booktitle = {Proceedings of {SIMPAR} 2018}, pages = {55-61}, publisher = {IEEE}, month = may, year = {2018}, doi = {10.1109/SIMPAR.2018.8376271}, url = {https://ieeexplore.ieee.org/document/8376271/}, month_numeric = {5} }