Robotics Institute Germany

The Robotics Institute Germany is an initiative by the German Federal Ministry of Research, Technology and Space~(BMFTR) aimed at connecting leading robotics labs across Germany to enhance their international visibility, attract talent, and accelerate progress in AI-powered robotics.

Robotics Institute Germany

Funding:

German Federal Ministry of Research, Technology and Space (BMFTR)

Start:

2024-07-01

End:

2028-07-01

Project Abstract:

The Robotics Institute Germany (RIG), jointly established by Germany’s leading robotics centers, is to become the central contact point for robotics in Germany. The project, funded by the German Federal Ministry of Research, Technology and Space (BMFTR) for the next four years, started on July 1, 2024.

Links:

Project Website

Project Members:

M. Bennewitz
B. Wingender

Associated Researchers:

Maren Bennewitz

Prof. Dr.

Maren Bennewitz

Group Leader

Nils Dengler

M.Sc.

Nils Dengler

Ph.D. Student

Benno Wingender

M.Sc.

Benno Wingender

Ph.D. Student

Associated Student Assistants:

Jesper Mücke

B.Sc.

Jesper Mücke

Student Assistant

Selected Research

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

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

Pre-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

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

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

Learning for Dynamics & Control Conference (L4DC), 2026

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

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

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

Arxiv Pre-print, 2026

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

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

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

Arxiv Pre-print, 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

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

Arxiv Pre-print, 2026

Pre-Print
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

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

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

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

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

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

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

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

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

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

Pre-PrintPublicationCodeVideo
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

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

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, T. Sethuraman, M. Bennewitz

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

J. de Heuvel, D. Marta, S. Holk, 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

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

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

Pre-PrintCodeVideo
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, J. Kuang, S. Khorshidi, X. Niu, L. Klingbeil, M. Bennewitz, H. Kuhlmann

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

H. Surmann, J. de Heuvel, 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

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

European Conference on Mobile Robots (ECMR), 2025

Pre-Print
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, S. Müller, M. Wessels, A. Akhtar, C. Bauckhage, M. Bennewitz

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

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

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

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

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

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

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

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

S. Pan, L. Jin, X. Huang, C. Stachniss, M. Popović, M. Bennewitz

Arxiv Pre-print, 2025

Pre-Print
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

S. Pan, H. Hu, H. Wei, N. Dengler, T. Zaenker, M. Dawood, M. Bennewitz

IEEE Transactions on Robotics (T-RO), 2024

Pre-PrintPublicationCodeVideo
Centroidal State Estimation based on the Koopman Embedding for Dynamic Legged Locomotion

Centroidal State Estimation based on the Koopman Embedding for Dynamic Legged Locomotion

S. Khorshidi, M. Dawood, M. Bennewitz

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

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

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

S. Agrawal, N. Dengler, M. 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

B. Kreis, N. Dengler, J. de Heuvel, R. Menon, Hamsa Datta Perur, M. Bennewitz

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

Pre-PrintPublicationCodeVideo
Exploiting Priors from 3D Diffusion Models for RGB-Based One-Shot View Planning

Exploiting Priors from 3D Diffusion Models for RGB-Based One-Shot View Planning

S. Pan, L. Jin, X. Huang, C. Stachniss, M. Popović, M. Bennewitz

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

Pre-PrintPublicationCodeVideo
HortiBot: An Adaptive Multi-Arm System for Robotic Horticulture of Sweet Peppers

HortiBot: An Adaptive Multi-Arm System for Robotic Horticulture of Sweet Peppers

C. Lenz, R. Menon, M. Schreiber, M. Paul Jacob, S. Behnke, M. Bennewitz

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

Pre-PrintPublicationCodeVideo
Spatiotemporal Attention Enhances Lidar-Based Robot Navigation in Dynamic Environments

Spatiotemporal Attention Enhances Lidar-Based Robot Navigation in Dynamic Environments

J. de Heuvel, X. Zeng, W. Shi, T. Sethuraman, M. Bennewitz

IEEE Robotics and Automation Letters (RA-L), presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

Pre-PrintPublicationVideo
Ensemble Policies for Diverse Query-Generation in Preference Alignment of Robot Navigation

Ensemble Policies for Diverse Query-Generation in Preference Alignment of Robot Navigation

J. de Heuvel, F. Seiler, M. Bennewitz

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

Pre-PrintPublicationCode
Sound Matters: Auditory Detectability of Mobile Robots

Sound Matters: Auditory Detectability of Mobile Robots

S. Agrawal, M. Wessels, J. de Heuvel, J. Kraus, M. Bennewitz

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

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

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

E. Schlachhoff, N. Dengler, L. Van Holland, P. Stotko, J. de Heuvel, R. Klein, M. Bennewitz

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

Pre-PrintPublication
A Neuromorphic Approach to Obstacle Avoidance in Robot Manipulation

A Neuromorphic Approach to Obstacle Avoidance in Robot Manipulation

A. Abdelrahman, M. Valdenegro-Toro, M. Bennewitz, P.G. Plöger

The International Journal of Robotics Research (IJRR), 2024

Pre-PrintPublication
Research Priorities to Leverage Smart Digital Technologies for Sustainable Crop Production

Research Priorities to Leverage Smart Digital Technologies for Sustainable Crop Production

H. Storm, S. Seidel, L. Klingbeil, F. Ewert, H. Vereecken, W. Amelung, S. Behnke, M. Bennewitz, J. Börner, T. Döring, J. Gall, A. Mahlein, C. McCool, U. Rascher, S. Wrobel, A. Schnepf, C. Stachniss, H. Kuhlmann

European Journal of Agronomy, 2024

Publication
Active Implicit Reconstruction Using One-Shot View Planning

Active Implicit Reconstruction Using One-Shot View Planning

H. Hu, S. Pan, L. Jin, M. Popović, M. Bennewitz

IEEE International Conference on Robotics and Automation (ICRA), 2024

Pre-PrintPublicationCodeVideo
How Many Views Are Needed to Reconstruct an Unknown Object Using NeRF?

How Many Views Are Needed to Reconstruct an Unknown Object Using NeRF?

S. Pan, L. Jin, H. Hu, M. Popović, M. Bennewitz

IEEE International Conference on Robotics and Automation (ICRA), 2024

Pre-PrintPublicationCodeVideo

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