diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 81f00bc..0d64281 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -348,7 +348,7 @@ jobs:
           tar czf /tmp/results/${LOG_FILENAME}.tar.gz -C /tmp ${LOG_FILENAME}.bin
       - name: Upload simulation data
         if: env.RUN_SIMULATION_STEPS == 'true'
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: BWC-ci-results-${{ matrix.catkin-build }}
           path: /tmp/results
diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
index 3504205..f3ee5ca 100644
--- a/.github/workflows/docker.yaml
+++ b/.github/workflows/docker.yaml
@@ -105,7 +105,7 @@ jobs:
           mv `readlink -f /tmp/mc-control-BaselineWalkingController-latest.bin` /tmp/${LOG_FILENAME}.bin
           tar czf /tmp/results/${LOG_FILENAME}.tar.gz -C /tmp ${LOG_FILENAME}.bin
       - name: Upload simulation data
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: BWC-docker-results
           path: /tmp/results