Publications

2026

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

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SG-DOR: Learning Scene Graphs with Direction-Conditioned Occlusion Reasoning for Pepper Plants

SG-DOR: Learning Scene Graphs with Direction-Conditioned Occlusion Reasoning for Pepper Plants

Rohit Menon, Niklas Mueller-Goldingen, Sicong Pan, Gokul Krishna Gandhi Chenchani, Maren Bennewitz

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

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Designing Privacy-Preserving Visual Perception for Robot Navigation Based on User Privacy Preferences

Designing Privacy-Preserving Visual Perception for Robot Navigation Based on User Privacy Preferences

Xuying Huang, Sicong Pan, Delphine Reinhardt, Maren Bennewitz

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

Pre-PrintDataset
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

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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

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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

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O-STaR: Open-Vocabulary Object Search through Spatio-Temporal Reasoning on Dynamic Scene Graphs

O-STaR: Open-Vocabulary Object Search through Spatio-Temporal Reasoning on Dynamic Scene Graphs

Rohit Menon, Yasmin Schmiede, Gokul Krishna Gandhi Chenchani, Hermann Blum, Maren Bennewitz

Proceedings of 2nd German Robotics Conference (GRC), 2026

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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
Constraint-Aware Reinforcement Learning via Adaptive Action Scaling

Constraint-Aware Reinforcement Learning via Adaptive Action Scaling

Murad Dawood, Usama Siddiquie, Shahram Khorshidi, Maren Bennewitz

Learning for Dynamics & Control Conference (L4DC), 2026

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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

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Still Image and Spatial-Temporal Tomato Data Enabling Detection, Segmentation, Tracking, and Video-Instance Segmentation Using Strong and Weak Labels

Still Image and Spatial-Temporal Tomato Data Enabling Detection, Segmentation, Tracking, and Video-Instance Segmentation Using Strong and Weak Labels

Michael Halstead, Esra Guclu, Mohamed Farag, Enrico Pallotta, Christian Hund, Ribana Roscher, Maren Bennewitz, Juergen Gall, Cyrill Stachniss, Chris McCool

Arxiv Pre-print, 2026

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Implicit-Behavior Coordination from Unlabeled Sub-Task Demonstrations for Rearrangement Tasks

Implicit-Behavior Coordination from Unlabeled Sub-Task Demonstrations for Rearrangement Tasks

Ahmed Shokry, Usama Siddiquie, Sicong Pan, Maren Bennewitz

Arxiv Pre-print, 2026

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Privacy-Preserving Depth-Only Open-Vocabulary 3D Semantic Segmentation Via Uncertainty-Guided Test-Time Optimization

Privacy-Preserving Depth-Only Open-Vocabulary 3D Semantic Segmentation Via Uncertainty-Guided Test-Time Optimization

Xuying Huang, Sicong Pan, Maren Bennewitz

Arxiv Pre-print, 2026

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ObjView-Bench: Rethinking Difficulty and Deployment for Object-Centric View Planning

ObjView-Bench: Rethinking Difficulty and Deployment for Object-Centric View Planning

Sicong Pan, Hao Hu, Xuying Huang, Benno Wingender, Maren Bennewitz

Arxiv Pre-print, 2026

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Privacy-Preserving Semantic Segmentation from Ultra-Low-Resolution RGB Inputs

Privacy-Preserving Semantic Segmentation from Ultra-Low-Resolution RGB Inputs

Xuying Huang, Sicong Pan, Olga Zatsarynna, Juergen Gall, Maren Bennewitz

Arxiv Pre-print, 2026

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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

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Efficient View Planning Guided by Previous-Session Reconstruction for Repeated Plant Monitoring

Efficient View Planning Guided by Previous-Session Reconstruction for Repeated Plant Monitoring

Sicong Pan, Luca Lobefaro, Moein Taherkhani, Xuying Huang, Rohit Menon, Cyrill Stachniss, Maren Bennewitz

Arxiv Pre-print, 2026

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Learning Perception and Manipulation of Objects in Cluttered Environments

Learning Perception and Manipulation of Objects in Cluttered Environments

Nils Dengler

University of Bonn, 2026

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Predictive Safety in Reinforcement Learning From MPC-Guidance to Learned Regulators

Predictive Safety in Reinforcement Learning From MPC-Guidance to Learned Regulators

Murad Dawood

University of Bonn, 2026

Pre-PrintPublication
Learning Personalized and Human-Aware Robot Navigation

Learning Personalized and Human-Aware Robot Navigation

Jorge de Heuvel

University of Bonn, 2026

Pre-PrintPublication

2025

An Approach to Joint Hybrid Decision Making Between Humans and Artificial Intelligence

An Approach to Joint Hybrid Decision Making Between Humans and Artificial Intelligence

Jonas Rockbach, Sven Fuchs, Maren Bennewitz

Studies in Neuroscience, Psychology and Behavioral Economics (SNPBE), 2025

Pre-PrintPublication
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

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Interactive Shaping of Granular Media Using Reinforcement Learning

Interactive Shaping of Granular Media Using Reinforcement Learning

Benedikt Kreis, Malte Mosbach, Anny Ripke, Muhammad Ehsan Ullah, Sven Behnke, Maren Bennewitz

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

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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

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GO-VMP: Global Optimization for View Motion Planning in Fruit Mapping

GO-VMP: Global Optimization for View Motion Planning in Fruit Mapping

Allen Isaac Jose, Sicong Pan, Tobias Zaenker, Rohit Menon, Sebastian Houben, Maren Bennewitz

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

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Context-Based Meta Reinforcement Learning for Robust and Adaptable Peg-in-Hole Assembly Tasks

Context-Based Meta Reinforcement Learning for Robust and Adaptable Peg-in-Hole Assembly Tasks

Ahmed Shokry, Walid Gomaa, Tobias Zaenker, Murad Dawood, Rohit Menon, Shady A. Maged, Mohammed I. Awad, Maren Bennewitz

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

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Demonstration-Enhanced Adaptable Multi-Objective Robot Navigation

Demonstration-Enhanced Adaptable Multi-Objective Robot Navigation

Jorge de Heuvel, Tharun Sethuraman, Maren Bennewitz

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

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The Impact of VR and 2D Interfaces on Human Feedback in Preference-Based Robot Learning

The Impact of VR and 2D Interfaces on Human Feedback in Preference-Based Robot Learning

Jorge de Heuvel, Daniel Marta, Simon Holk, Iolanda Leite, Maren Bennewitz

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

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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

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DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs

DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs

Yibin Wu, Jaian Kuang, Shahram Khorshidi, Xiaoji Niu, Lasse Klingbeil, Maren Bennewitz, Heiner_Kuhlmann

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

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Multi-Objective Reinforcement Learning for Adaptive Personalized Autonomous Driving

Multi-Objective Reinforcement Learning for Adaptive Personalized Autonomous Driving

Hendrik Surmann, Jorge de Heuvel, Maren Bennewitz

European Conference on Mobile Robots (ECMR 2025), 2025

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End-to-End Multi-Task Policy Learning from NMPC for Quadruped Locomotion

End-to-End Multi-Task Policy Learning from NMPC for Quadruped Locomotion

Anudeep Sajja, Shahram Khorshidi, Sebastian Houben, Maren Bennewitz

European Conference on Mobile Robots (ECMR), 2025

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Immersive Explainability: Visualizing Robot Navigation Decisions through XAI Semantic Scene Projections in Virtual Reality

Immersive Explainability: Visualizing Robot Navigation Decisions through XAI Semantic Scene Projections in Virtual Reality

Jorge de Heuvel, Sebastian Müller, Marlene Wessels, Aftab Akhtar, Christian Bauckhage, Maren Bennewitz

IEEE International on Human & Robot Interactive Communication (RO-MAN), 2025

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Auditory Localization and Assessment of Consequential Robot Sounds: A Multi-Method Study in Virtual Reality

Auditory Localization and Assessment of Consequential Robot Sounds: A Multi-Method Study in Virtual Reality

Marlene Wessels, Jorge de Heuvel, Leon Müller, Anna Luisa Maier, Johannes Kraus, Maren Bennewitz

IEEE International on Human & Robot Interactive Communication (RO-MAN), 2025

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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
Physically-Consistent Parameter Identification of Robots in Contact

Physically-Consistent Parameter Identification of Robots in Contact

Shahram Khorshidi, Murad Dawood, Benno Nederkorn, Maren Bennewitz, Majid Khadiv

IEEE International Conference on Robotics & Automation (ICRA), 2025

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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

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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

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Automated Leaf-Level Inspection of Crops Combining UAV and UGV Robots

Automated Leaf-Level Inspection of Crops Combining UAV and UGV Robots

Felix Esser, Elias Marks, Federico Magistri, Jan Weyler, Simon Bultmann, Tobias Zaenker, Alireza Ahmadi, Heiner_Kuhlmann, Chris McCool, Marija Popović, Cyrill Stachniss, Sven Behnke, Maren Bennewitz, Lasse Klingbeil

European Robotics Forum (ERF), 2025

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A Dynamic Safety Shield for Safe and Efficient Reinforcement Learning of Navigation Tasks

A Dynamic Safety Shield for Safe and Efficient Reinforcement Learning of Navigation Tasks

Murad Dawood, Ahmed Shokry, Maren Bennewitz

Learning for Dynamics and Control (L4DC), 2025

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Safe Leaf Manipulation for Accurate Shape and Pose Estimation of Occluded Fruits

Safe Leaf Manipulation for Accurate Shape and Pose Estimation of Occluded Fruits

Shaoxiong Yao, Sicong Pan, Maren Bennewitz, Kris Hauser

IEEE International Conference on Robotics & Automation (ICRA), 2025

Pre-PrintPublicationCodeVideo
DM-OSVP++: One-Shot View Planning Using 3D Diffusion Models for Active RGB-Based Object Reconstruction

DM-OSVP++: One-Shot View Planning Using 3D Diffusion Models for Active RGB-Based Object Reconstruction

Sicong Pan, Liren Jin, Xuying Huang, Cyrill Stachniss, Marija Popović, Maren Bennewitz

Arxiv Pre-print, 2025

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