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
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

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

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

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
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

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

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

Pre-PrintCode
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
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

Pre-Print
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

Pre-Print
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

Pre-Print
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

Pre-Print
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

Pre-PrintCode
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
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

Pre-PrintCode
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
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