Nils Dengler

Dr.

Nils Dengler

Alumni

Contact:

Room:Room 2.045Tel.:+49 (0)228 73-60829Email:nideng_at_uni-bonn.de

Research Interest:

  • Semantic mapping
  • Reinforcement learning
  • Object manipulation

Links:

About:

I am a Ph.D. student at the Humanoid Robots Lab headed by Maren Bennewitz at the University of Bonn. I received my master's degree in Computer Science from the University of Bonn in 2021.

Research Areas:

My Publications

A Robust Placeability Metric for Model-Free Unified Pick-and-Place Reasoning

A Robust Placeability Metric for Model-Free Unified Pick-and-Place Reasoning

Benno Wingender, Nils Dengler, Rohit Menon, Sicong Pan, Maren Bennewitz

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

Pre-Print
Point of View: How Perspective Affects Perceived Robot Sociability

Point of View: How Perspective Affects Perceived Robot Sociability

Subham Agrawal, Aftab Akhtar, Nils Dengler, Maren Bennewitz

IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2026

Pre-PrintCode
Efficient Trajectory Optimization for Autonomous Racing via Formula-1 Data-Driven Initialization

Efficient Trajectory Optimization for Autonomous Racing via Formula-1 Data-Driven Initialization

Samir Shehadeh, Lukas Kutsch, Nils Dengler, Sicong Pan, Maren Bennewitz

IEEE International Conference on Intelligent Transportation Systems (ITSC), 2026

Pre-Print
Interpreting Context-Aware Human Preferences for Multi-Objective Robot Navigation

Interpreting Context-Aware Human Preferences for Multi-Objective Robot Navigation

Tharun Sethuraman, Subham Agrawal, Nils Dengler, Jorge de Heuvel, Teena Hassan, Maren Bennewitz

International Conference on Social Robotics (ICSR), 2026

Pre-PrintCode
PeRoI: A Pedestrian-Robot Interaction Dataset for Learning Avoidance, Neutrality, and Attraction Behaviors in Social Navigation

PeRoI: A Pedestrian-Robot Interaction Dataset for Learning Avoidance, Neutrality, and Attraction Behaviors in Social Navigation

Subham Agrawal, Nico Sven Ostermann-Myrau, Nils Dengler, Maren Bennewitz

IEEE International Conference on Robotics & Automation (ICRA), 2026

Pre-PrintDataset
Semantic- and Density-Aware Planning for Accessibility-Preserving Multi-Object Placement

Semantic- and Density-Aware Planning for Accessibility-Preserving Multi-Object Placement

Benno Wingender, Nils Dengler, Nicolas Busch, Sicong Pan, Maren Bennewitz

Arxiv Pre-print, 2026

Pre-Print
RHINO-AR: An Augmented Reality Exhibit for Teaching Mobile Robotics Concepts in Museums

RHINO-AR: An Augmented Reality Exhibit for Teaching Mobile Robotics Concepts in Museums

Nils Dengler, Tim Graf, Leif Van Holland, Patrick Stotko, Reinhard Klein, Maren Bennewitz

Arxiv Pre-print, 2026

Pre-Print
Learning Perception and Manipulation of Objects in Cluttered Environments

Learning Perception and Manipulation of Objects in Cluttered Environments

Nils Dengler

University of Bonn, 2026

Publication
Efficient Manipulation-Enhanced Semantic Mapping With Uncertainty-Informed Action Selection

Efficient Manipulation-Enhanced Semantic Mapping With Uncertainty-Informed Action Selection

Nils Dengler, Jesper Mücke, Rohit Menon, Maren Bennewitz

IEEE/RAS International Conference on Humanoid Robots (Humanoids), 2025

Pre-PrintCodeVideo
EvidMTL: Evidential Multi-Task Learning for Uncertainty-Aware Semantic Surface Mapping from Monocular RGB Images

EvidMTL: Evidential Multi-Task Learning for Uncertainty-Aware Semantic Surface Mapping from Monocular RGB Images

Rohit Menon, Nils Dengler, Sicong Pan, Gokul Krishna Gandhi Chenchani, Maren Bennewitz

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Pre-PrintCode
Learning Goal-Directed Object Pushing in Cluttered Scenes with Location-Based Attention

Learning Goal-Directed Object Pushing in Cluttered Scenes with Location-Based Attention

Nils Dengler, Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar, Maren Bennewitz

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Pre-PrintCodeVideo
Towards Rhino-AR: A System for Real-Time 3D Human Pose Estimation and Volumetric Scene Integration on Embedded AR Headsets

Towards Rhino-AR: A System for Real-Time 3D Human Pose Estimation and Volumetric Scene Integration on Embedded AR Headsets

Leif Van Holland, Ninian Kaspers, Nils Dengler, Patrick Stotko, Maren Bennewitz, Reinhard Klein

International Conference on Virtual Reality (ICVR), 2025

Publication
Map Space Belief Prediction for Manipulation-Enhanced Mapping

Map Space Belief Prediction for Manipulation-Enhanced Mapping

Joao Marcos Correia Marques, Nils Dengler, Tobias Zaenker, Jesper Mücke, Shenlong Wang, Maren Bennewitz, Kris Hauser

Robotics: Science and Systems (RSS), 2025

Pre-PrintPublicationCodeVideo
Safe Multi-Agent Reinforcement Learning for Behavior-Based Cooperative Navigation

Safe Multi-Agent Reinforcement Learning for Behavior-Based Cooperative Navigation

Murad Dawood, Sicong Pan, Nils Dengler, Siqi Zhou, Angela Schoellig, Maren Bennewitz

IEEE Robotics and Automation Letters (RA-L) and presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Pre-PrintPublicationCodeVideo
Integrating One-Shot View Planning with a Single Next-Best View via Long-Tail Multiview Sampling

Integrating One-Shot View Planning with a Single Next-Best View via Long-Tail Multiview Sampling

Sicong Pan, Hao Hu, Hui Wei, Nils Dengler, Tobias Zaenker, Murad Dawood, Maren Bennewitz

IEEE Transactions on Robotics (T-RO), 2024

Pre-PrintPublicationCodeVideo
Evaluating Robot Influence on Pedestrian Behavior Models for Crowd Simulation and Benchmarking

Evaluating Robot Influence on Pedestrian Behavior Models for Crowd Simulation and Benchmarking

Subham Agrawal, Nils Dengler, Maren Bennewitz

International Conference on Social Robotics +AI (ICSR), 2024

Pre-PrintPublicationCode
Compact Multi-Object Placement Using Adjacency-Aware Reinforcement Learning

Compact Multi-Object Placement Using Adjacency-Aware Reinforcement Learning

Benedikt Kreis, Nils Dengler, Jorge de Heuvel, Rohit Menon, Hamsa Datta Perur, Maren Bennewitz

IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2024

Pre-PrintPublicationCodeVideo
RHINO-VR Experience: Teaching Mobile Robotics Concepts in an Interactive Museum Exhibit

RHINO-VR Experience: Teaching Mobile Robotics Concepts in an Interactive Museum Exhibit

Erik Schlachhoff, Nils Dengler, Leif Van Holland, Patrick Stotko, Jorge de Heuvel, Reinhard Klein, Maren Bennewitz

IEEE International on Human & Robot Interactive Communication (RO-MAN), 2024

Pre-PrintPublication
Trust, (Dis)Comfort, and Voice Quality: Anthropomorphism in Verbal Interactions with NAO

Trust, (Dis)Comfort, and Voice Quality: Anthropomorphism in Verbal Interactions with NAO

Caja Thimm, Phillip Engelhardt, Patrick Nehls, Jiliane Hens, Mira Biehler, Christopher Hermanns, Philipp Huzel, Maren Bennewitz, Jesper Mücke, Nils Dengler

HCI International 2024 Posters, 2024

Publication
DawnIK: Decentralized Collision-Aware Inverse Kinematics Solver for Heterogeneous Multi-Arm Systems

DawnIK: Decentralized Collision-Aware Inverse Kinematics Solver for Heterogeneous Multi-Arm Systems

Salih Marangoz, Rohit Menon, Nils Dengler, Maren Bennewitz

IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2023

Pre-PrintPublicationCodeVideo
Viewpoint Push Planning for Mapping of Unknown Confined Spaces

Viewpoint Push Planning for Mapping of Unknown Confined Spaces

Nils Dengler, Sicong Pan, Vamsi Kalagaturu, Rohit Menon, Murad Dawood, Maren Bennewitz

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

Pre-PrintPublicationCodeVideo
NBV-SC: Next Best View Planning based on Shape Completion for Fruit Mapping and Reconstruction

NBV-SC: Next Best View Planning based on Shape Completion for Fruit Mapping and Reconstruction

Rohit Menon, Tobias Zaenker, Nils Dengler, Maren Bennewitz

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

Pre-PrintPublicationVideo
Handling Sparse Rewards in Reinforcement Learning Using Model Predictive Control

Handling Sparse Rewards in Reinforcement Learning Using Model Predictive Control

Murad Dawood, Nils Dengler, Jorge de Heuvel, Maren Bennewitz

IEEE International Conference on Robotics & Automation (ICRA), 2023

Pre-PrintPublicationVideo
Learning Goal-Directed Non-Prehensile Pushing in Cluttered Scenes

Learning Goal-Directed Non-Prehensile Pushing in Cluttered Scenes

Nils Dengler, David Großklaus, Maren Bennewitz

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

Pre-PrintPublicationCodeVideo
Sensor-Based Navigation Using Hierarchical Reinforcement Learning

Sensor-Based Navigation Using Hierarchical Reinforcement Learning

Christopher Gebauer, Nils Dengler, Maren Bennewitz

International Conference on Intelligent Autonomous Systems (IAS-17), 2022

Pre-PrintPublicationVideo

Reinforcement Learning