Marlon Humphrey returned to Ravens practice Wednesday, the Pro Bowl cornerback’s first on-field work since undergoing minor foot surgery in mid-August.

Humphrey, who was limited in practice, missed the Ravens’ first four games while rehabilitating. Coach John Harbaugh said Monday that he was hopeful Humphrey would return this week as the Ravens prepare to face the Pittsburgh Steelers on Sunday.

“He’s been working super hard,” Harbaugh said. “It’s one of those things where it’s just a matter of the healing process in there taking place in the bone or whatever. So it looks good. We’ll see what happens. We just have to see how it responds to the workload. That’s the main thing right now.”

Even with Humphrey sidelined and safety Marcus Williams missing the past three games because of a pectoral injury, the Ravens have had one of the NFL’s best defenses.

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Ravens wide receivers Odell Beckham Jr. (ankle) and Rashod Bateman (hamstring) also returned to practice. Beckham (five catches for 66 yards this season), the team’s top free-agent signing this offseason, was hurt in Week 2 and was limited Wednesday. Bateman (seven catches for 59 yards), who was sidelined in Week 3, was a full participant.

“It’s wonderful,” quarterback Lamar Jackson said of their return. “A lot more speed on the field.”

Running back Keaton Mitchell (shoulder) was designated to return off injured reserve Wednesday, clearing the way for the undrafted rookie to make his NFL debut in the coming weeks. The Ravens lost starter J.K. Dobbins to a season-ending Achilles tendon injury in Week 1, and running back Justice Hill was limited Wednesday by toe and hamstring injuries. In designating Mitchell to return, the Ravens now have 21 days to activate him to the 53-man roster, move him to season-ending injured reserve or release him.

Left tackle Ronnie Stanley, meanwhile, was a full participant in practice for the first time since suffering his Week 1 knee injury. He was limited in practice last Wednesday and Thursday but missed Friday’s session and the game against the Browns. Right tackle Morgan Moses (shoulder), who was hurt Sunday, missed practice.

Safety Daryl Worley (shoulder), who was also knocked out of Sunday’s win, and outside linebacker Odafe Oweh (ankle) were absent as well. Cornerback Jalyn Armour-Davis (hamstring), who was injured in Sunday’s win over the Cleveland Browns, was back at practice and limited.

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Williams, who missed Sunday’s game despite participating fully in two practices last week, was not limited Wednesday. The star safety hasn’t played since Week 1.

“Just looking for him to be ready,” Harbaugh said. “It’s a lot of factors involved with that, and we’ll see as we get along in the week how he looks, how he feels and whether or not he’s ready, and if he feels like he can perform, and he’s going to be safe.”

Outside linebacker Tyus Bowser (knee), who remains on the team’s non-football-injury list, was working out on a side field.

Steelers quarterback Kenny Pickett was limited by a bone bruise to his left knee Wednesday, but he told reporters in Pittsburgh that he expects to play Sunday.