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

S. Pan, B. Wingender, M. Bennewitz, R. Menon, N. Dengler

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

Pre-Print
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

S. Pan, N. Mueller-Goldingen, G.K.G. Chenchani, M. Bennewitz, R. Menon

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

Pre-Print
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

S. Pan, D. Reinhardt, M. Bennewitz, X. Huang

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

A. Akhtar, M. Bennewitz, S. Agrawal, N. Dengler

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

S. Pan, L. Kutsch, S. Shehadeh, M. Bennewitz, N. Dengler

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

J. de Heuvel, T. Hassan, M. Bennewitz, T. Sethuraman, S. Agrawal, N. Dengler

International Conference on Social Robotics (ICSR), 2026

Pre-PrintCode
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

G.K.G. Chenchani, H. Blum, M. Bennewitz, R. Menon, Y. Schmiede

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

PDFPre-Print
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

N. Ostermann-Myrau, M. Bennewitz, S. Agrawal, N. Dengler

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

A. Siddiquie, M. Dawood, S. Khorshidi, M. 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

S. Pan, B. Wingender, M. Bennewitz, N. Dengler, N. Busch

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

E. Pallotta, C. Stachniss, M. Farag, C. Hund, J. Gall, E. Guclu, C. McCool, R. Roscher, M. Halstead, M. Bennewitz

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

S. Pan, A. Siddiquie, A. Shokry, M. 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

S. Pan, M. Bennewitz, X. Huang

Arxiv Pre-print, 2026

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

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

S. Pan, B. Wingender, H. Hu, M. Bennewitz, X. Huang

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

T. Graf, L. Van Holland, M. Bennewitz, R. Klein, N. Dengler, P. Stotko

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

S. Pan, J. Gall, O. Zatsarynna, M. Bennewitz, X. Huang

Arxiv Pre-print, 2026

Pre-PrintCode
Extended Swarming A Bio-Inspired Design for Human Control over Robot Swarms

Extended Swarming A Bio-Inspired Design for Human Control over Robot Swarms

J. Rockbach

University of Bonn, 2026

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

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

S. Pan, C. Stachniss, M. Taherkhani, L. Lobefaro, M. Bennewitz, X. Huang, R. Menon

Arxiv Pre-print, 2026

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

Learning Perception and Manipulation of Objects in Cluttered Environments

N. Dengler

University of Bonn, 2026

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

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

M. Dawood

University of Bonn, 2026

Pre-PrintPublication
Learning Personalized and Human-Aware Robot Navigation

Learning Personalized and Human-Aware Robot Navigation

J. 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

J. Rockbach, S. Fuchs, M. 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

J. Mücke, M. Bennewitz, R. Menon, N. Dengler

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

Pre-PrintCodeVideo
Interactive Shaping of Granular Media Using Reinforcement Learning

Interactive Shaping of Granular Media Using Reinforcement Learning

S. Behnke, M. Mosbach, B. Kreis, M. Bennewitz, M. E. Ullah, A. Ripke

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

Pre-PrintPublicationWebsiteCode
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

S. Pan, G.K.G. Chenchani, M. Bennewitz, R. Menon, N. Dengler

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

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

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

S. Pan, S. Houben, A. Isaac Jose, M. Bennewitz, R. Menon, T. Zaenker

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

W. Gomaa, M. Dawood, A. Shokry, M. Bennewitz, S. Maged, R. Menon, T. Zaenker, M. Awad

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

Pre-PrintCode
Demonstration-Enhanced Adaptable Multi-Objective Robot Navigation

Demonstration-Enhanced Adaptable Multi-Objective Robot Navigation

J. de Heuvel, M. Bennewitz, T. Sethuraman

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

Pre-PrintCodeVideo
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

S. Holk, J. de Heuvel, D. Marta, I. Leite, M. 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

J. Del Aguila Ferrandis, M. Bennewitz, N. Dengler, S. Vijayakumar, J. Moura

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

Y. Wu, L. Klingbeil, S. Khorshidi, H. Kuhlmann, M. Bennewitz, J. Kuang, X. Niu

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

Pre-Print
Multi-Objective Reinforcement Learning for Adaptive Personalized Autonomous Driving

Multi-Objective Reinforcement Learning for Adaptive Personalized Autonomous Driving

J. de Heuvel, H. Surmann, M. Bennewitz

European Conference on Mobile Robots (ECMR 2025), 2025

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

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

S. Houben, S. Khorshidi, M. Bennewitz, A. Sajja

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

J. de Heuvel, C. Bauckhage, A. Akhtar, M. Bennewitz, M. Wessels, S. Müller

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

Pre-PrintVideo
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

J. Kraus, L. Müller, J. de Heuvel, M. Bennewitz, A.L. Maier, M. Wessels

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

Pre-PrintDataset
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

N. Kaspers, L. Van Holland, M. Bennewitz, R. Klein, N. Dengler, P. Stotko

International Conference on Virtual Reality (ICVR), 2025

Publication
Physically-Consistent Parameter Identification of Robots in Contact

Physically-Consistent Parameter Identification of Robots in Contact

M. Dawood, S. Khorshidi, M. Khadiv, M. Bennewitz, B. Nederkorn

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

Pre-PrintPublicationCode
Map Space Belief Prediction for Manipulation-Enhanced Mapping

Map Space Belief Prediction for Manipulation-Enhanced Mapping

K. Hauser, J. Mücke, J.M.C Marques, M. Bennewitz, S. Wang, N. Dengler, T. Zaenker

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

S. Pan, M. Dawood, A. Schoellig, S. Zhou, M. Bennewitz, N. Dengler

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

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

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

E. Marks, S. Behnke, S. Bultmann, M. Popović, C. Stachniss, A. Ahmadi, J. Weyler, F. Esser, L. Klingbeil, H. Kuhlmann, C. McCool, M. Bennewitz, T. Zaenker, F. Magistri

European Robotics Forum (ERF), 2025

PublicationVideo
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

M. Dawood, A. Shokry, M. Bennewitz

Learning for Dynamics and Control (L4DC), 2025

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

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

S. Pan, K. Hauser, S. Yao, M. Bennewitz

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

Pre-PrintPublicationCodeVideo