Funding ID: 16ME0999
The BMFTR-funded project "Robotics Institute Germany (RIG)" connects leading robotics labs across Germany to enhance their international visibility, attract talent, and accelerate progress in AI-powered robotics. [Press release]
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The RIG project partners are:
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The principal investigators at the University of Bonn are:
Jonas Bode, Raphael Memmesheimer, and Sven Behnke:
EL3DD:
Extended Latent 3D Diffusion for Language Conditioned Multitask
Manipulation
In: European Robotics Forum (ERF), Stavanger, Norway, March 2026.
Evgenii Kruzhkov, Raphael Memmesheimer, and Sven Behnke:
OMCL: Open-vocabulary
Monte Carlo Localization
IEEE Robotics and Automation Letters 11(3): 2698-2705, December 2025.
Murad Dawood, Usama A. Siddiquie, Shahram Khorshidi, and Maren
Bennewitz:
Constraint-Aware
Reinforcement Learning via Adaptive Action Scaling
Preprint arXiv: 2510.11491, October 2025.
Benno Wingender, Nils Dengler, Rohit Menon, Sicong Pan, and Maren
Bennewitz:
A Generalized Placeability
Metric for Model-Free Unified Pick-and-Place Reasoning
Preprint arXiv: 2510.14584, October 2025.
Nils Dengler, Jesper Mücke, Rohit Menon, and Maren Bennewitz:
Efficient
Manipulation-Enhanced Semantic Mapping with Uncertainty-Informed
Action Selection
In: IEEE-RAS 24th International Conference on Humanoid Robots
(Humanoids), Seoul, Korea, October 2025.
Tiziani Guadagnino, Benedikt Mersch, Saurabh Gupta, Ignacio Vizzo,
Giorgio Grisetti, and Cyrill Stachniss:
KISS-SLAM: A Simple,
Robust, and Accurate 3D LiDAR SLAM System With Enhanced
Generalization Capabilities
In: IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), Hangzhou, China, October 2025.
Rohit Menon, Nils Dengler, Sicong Pan, Gokul Krishna Chenchani, and
Maren Bennewitz:
EvidMTL: Evidential
Multi-Task Learning for Uncertainty-Aware Semantic Surface Mapping
from Monocular RGB Images
In: IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), Hangzhou, China, October 2025.
Rohit Menon, Yasmin Schmiede, Maren Bennewitz, and Hermann Blum:
Open-Vocabulary
and Semantic-Aware Reasoning for Search and Retrieval of Objects in
Dynamic and Concealed Spaces
In: IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), Hangzhou, China, October 2025.
Sicong Pan, Xuying Huang, and Maren Bennewitz:
Temporal-Prior-Guided View
Planning for Periodic 3D Plant Reconstruction
In: Active Perception Workshop in IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS), Hangzhou, China, October 2025.
Matteo Sodano, Federico Magistri, Elias Marks, Fares Hosn, Aibek
Zubayev, Rodrigo Marcuzzi, Meher V. R. Malladi, Jens Behley, and Cyrill
Stachniss:
3D Hierarchical
Panoptic Segmentation in Real Orchard Environments Across Different
Sensors
In: IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), Hangzhou, China, October 2025.
Niklas Trekel, Tiziano Guadagnino, Thomas Läbe, Louis Wiesmann, Perrine
Aguiar, Jens Behley, and Cyrill Stachniss:
Benchmark
for Evaluating Long-Term Localization in Indoor Environments Under
Substantial Static and Dynamic Scene Changes
In: IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), Hangzhou, China, October 2025.
Benedikt Kreis, Malte Mosbach, Anny Ripke, M. Ehsan Ullah, Sven Behnke,
and Maren Bennewitz:
Interactive
Shaping of Granular Media Using Reinforcement Learning
In: IEEE-RAS 24th International Conference on Humanoid Robots
(Humanoids), Seoul, Korea, October 2025.
Utkarsh Bajpai, Julius Rückin, Cyrill Stachniss, and Marija Popvić:
Uncertainty-Informed
Active Perception for Open Vocabulary Object Goal Navigation
In: European Conference on Mobile Robots (ECMR), Padua, Italy, September
2025.
Sumanth Nagulavancha, Dhagash Desai, Saurabh Gupta, Luca Lobefaro,
Cyrill Stachniss, Ignacio Vizzo, and Tiziano Guadagnino:
Revisiting
Fast and Accurate RGB-D Odometry for Real-World Use by Embracing
Simplicity
In: European Conference on Mobile Robots (ECMR), Padua, Italy, September
2025.
Hendrik Surmann, Jorge de Heuvel, and Maren Bennewitz:
Multi-Objective
Reinforcement Learning for Adaptable Personalized Autonomous Driving
In: European Conference on Mobile Robots (ECMR), Padua, Italy, September
2025.
Meher V. R. Malladi, Tiziano Guadagnino, Luca Lobefaro, and Cyrill
Stachniss:
A Robust Approach for
LiDAR-Inertial Odometry Without Sensor-Specific Modeling
Preprint arXiv:2509.06593, September 2025.
Esra Guclu, Michael Halstead, Simon Denman, and Chris McCool:
Weakly
labelled spatial-temporal sweet pepper data: Enabling higher quality
detection, segmentation, and tracking
The International Journal of Robotics Research 0(0), September 2025.
Yue Pan, Xingguang Zhong, Liren Jin, Louis Wiesmann, Marija Popvić, Jens
Behley, and Cyrill Stachniss:
PINGS:
Gaussian Splatting Meets Distance Fields within a Point-Based
Implicit Neural Map
In: Robotics: Science and Systems (RSS), Los Angeles, USA, September
2025.
Grzegorz Ficht, Luis Denninger, and Sven Behnke:
AGILOped: Agile Open-Source
Humanoid Robot for Research
10th IEEE International Conference on Advanced Robotics and Mechatronics
(ARM), Portsmouth, UK, August 2025.
Jorge de Heuvel, Sebastian Müller, Marlene Wessels, Aftab Akhtar,
Christian Bauckhage, and Maren Bennewitz:
Immersive
Explainability: Visualizing Robot Navigation Decisions through XAI
Semantic Scene Projections in Virtual Reality
In: IEEE 34th International Conference on Robot and Human Interactive
Communication (RO-MAN), Eindhoven, Netherlands, August 2025.
Vincent Schoenbach, Marvin Wiedemann, Raphael Memmesheimer, Malte
Mosbach, and Sven Behnke:
Integration
of the TIAGo Robot into Isaac Sim with Mecanum Drive Modeling and
Learned S-Curve Velocity Profiles
In: IEEE 21st International Conference on Automation Science and
Engineering (CASE), Los Angeles, USA, August 2025.
Malte Mosbach, Jan Ewertz, Angel Villar-Corrales, and Sven Behnke:
SOLD: Slot
Object-Centric Latent Dynamics Models for Relational Manipulation
Learning from Pixels
In: International Conference on Machine Learning (ICML), Vancouver,
Canada, July 2025.
Xuying Huang, Sicong Pan, Olga Zatsarynna, Juergen Gall, and Maren
Bennewitz:
Improved Semantic
Segmentation from Ultra-Low-Resolution RGB Images Applied to
Privacy-Preserving Object-Goal Navigation
Preprint arXiv: 2507.16034, July 2025.
Joao M. C. Marques, Nils Dengler, Tobias Zaenker, Jesper Mücke, Shenlong
Wang, Maren Bennewitz, and Kris Hauser:
Map Space Belief
Prediction for Manipulation-Enhanced Mapping
In: Robotics: Science and Systems (RSS), Sydney, Australia, June 2025.
Haofei Kuang, Yue Pan, Xingguang Zhong, Louis Wiesmann, Jens Behley,
and Cyrill Stachniss:
Improving Indoor Localization
Accuracy by Using an Efficient Implicit Neural Map Representation
IEEE International Conference on Robotics and Automation (ICRA),
Atlanta, USA, May 2025.
Shaoxiong Yao, Sicong Pan, Maren Bennewitz, and Kris Hauser:
Safe Leaf Manipulation for
Accurate Shape and Pose Estimation of Occluded Fruits
IEEE International Conference on Robotics and Automation (ICRA),
Atlanta, USA, May 2025.
Shahram Khorshidi, Murad Dawood, Benno Nederkorn, Maren Bennewitz,
Majid Khadiv:
Physically-Consistent Parameter Identification of Robots in Contact
IEEE International Conference on Robotics and Automation (ICRA),
Atlanta, USA, May 2025.
Subham Agrawal, Nico Ostermann-Myrau, Nils Dengler, and Maren
Bennewitz:
The
Robot-Pedestrian Influence Dataset for Learning Distinct Social
Navigation Forces
In: 7th Workshop on Long-term Human Motion Prediction, Atlanta, USA, May
2025.
Rodrigo Marcuzzi, Lucas Nunes, Elias Marks, Louis Wiesmann, Thomas
Läbe, Jens Behley, and Cyrill Stachniss:
SfmOcc: Vision-Based 3D Semantic
Occupancy Prediction in Urban Environments
IEEE Robotics and Automation Letters (RA-L) 10(5):5074-5081, April 2025.
Sicong Pan, Liren Jin, Xuying Huang, Cyrill Stachniss, Marija Popvić,
and Maren Bennewitz:
DM-OSVP++: One-Shot
View Planning Using 3D Diffusion Models for Active RGB-Based Object
Reconstruction
Preprint arXiv: 2504.11674, April 2025.
Rohit Menon, Nils Dengler, Sicong Pan, Gokul Krishna Chenchani, Maren
Bennewitz:
EvidMTL: Evidential Multi-Task Learning for Uncertainty-Aware
Semantic Surface Mapping from Monocular RGB Images
Preprint arXiv:2503.04441, March 2025.
Jorge de Heuvel, Daniel Marta, Simon Holk, Iolanda Leite, and Maren
Bennewitz:
The Impact of VR and 2D Interfaces on Human Feedback in
Preference-Based Robot Learning
Preprint arXiv:2503.16500, March 2025.
Subham Agrawal, Nico Ostermann-Myrau, Nils Dengler, and Maren Bennewitz
PeRoI:
A Pedestrian-Robot Interaction Dataset for Learning Avoidance,
Neutrality, and Attraction Behaviors in Social Navigation
Preprint arXiv:2503.16481, March 2025.
Allen Isaac Jose, Sicong Pan, Tobias Zaenker, Rohit Menon, Sebastian
Houben, and Maren Bennewitz:
GO-VMP: Global Optimization for View Motion Planning in Fruit Mapping
Preprint arXiv:2503.03912, March 2025.
Lucas Nunes, Rodrigo Marcuzzi, Jens Behley, and Cyrill Stachniss:
Towards
Generating Realistic 3D Semantic Training Data for Autonomous
Driving
Preprint arXiv:2503.21449, March 2025.
Matteo Sodano, Federico Magistri, Jens Behley, and Cyrill Stachniss:
Open-World Panoptic Segmentation
Preprint arXiv:2412.12740, December 2024.
Louis Wiesmann, Elias Marks, Saurabh Gupta, Tiziano Guadagnino, Jens
Behley, and Cyrill Stachniss:
Efficient LiDAR Bundle Adjustment for Multi-Scan Alignment Utilizing
Continuous-Time Trajectories
Preprint arXiv:2412.11760, December 2024.
Benedikt Kreis, Nils Dengler, Jorge de Heuvel, Rohit Menon, Hamsa
Perur, and Maren Bennewitz:
Compact Multi-Object Placement
Using Adjacency-Aware Reinforcement Learning
In: IEEE-RAS International Conference on Humanoid Robots (Humanoids),
Nancy, France, November 2024.
Murad Dawood, Ahmed Shokry, and Maren Bennewitz:
A Dynamic Safety Shield
for Safe and Efficient Reinforcement Learning of Navigation Tasks
In: Machine Learning Research - 7th Annual Conference on Learning for
Dynamics and Control, Ann Arbor, USA, June 2024.
Jorge de Heuvel, Tharun Sethuraman, and Maren Bennewitz:
Demonstration-Enhanced
Adaptable Multi-Objective Robot Navigation
Preprint arXiv: 2404.04857, April 2024.
Nils Dengler, Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar,
and Maren Bennewitz: Learning Goal-Directed Object Pushing in Cluttered
Scenes With Location-Based Attention
In: IEEE /RSJ International Conference on Intelligent Robots and Systems
(IROS), Abu Dhabi, United Arab Emirates, October 2024.
Grzegorz Ficht and Sven Behnke:
Maximum Impulse Approach to
Soccer Kicking for Humanoid Robots
In: Workshop on Humanoid Soccer Robots, IEEE-RAS 23rd International
Conference on Humanoid Robots (Humanoids), Nancy, France, November 2024.
Subham Agrawal, Nils Dengler, and Maren Bennewitz:
Evaluating Robot Influence on
Pedestrian Behavior Models for Crowd Simulation and Benchmarking
In: International Conference on Social Robotics (ICSR), Odense, Denmark,
October 2024.
Tiziano Guadagnino, Benedikt Mersch, Ignacio Vizzo, Saurabh Gupta,
Meher V.R. Malladi, Luca Lobefaro, Guillaume Doisy, and Cyrill
Stachniss:
Kinematic-ICP: Enhancing LiDAR Odometry with Kinematic Constraints
for Wheeled Mobile Robots Moving on Planar Surfaces
Preprint arXiv:2410.10277, October 2024.
Ahmed Shokry, Walid Gomaa, Tobias Zaenker, Murad Dawood, Shady A.
Maged, Mohammed I. Awad, and Maren Bennewitz:
Context-Based Meta Reinforcement Learning for Robust and Adaptable
Peg-in-Hole Assembly Tasks
Preprint arXiv:2409.16208, September 2024.
Louis Wiesmann, Thomas Läbe, Lucas Nunes, Jens Behley, and Cyrill
Stachniss:
Joint Intrinsic and Extrinsic
Calibration of Perception Systems Utilizing a Calibration
Environment
IEEE Robotics and Automation Letters (RA-L) 9(10): 9103-9110, September
2024.
University of Bonn, Institute
for
Computer Science VI – Intelligent Systems and Robotics,
Institute
of Geodesy and Geoinformation, Agricultural
Robotics Lab, Center for
Robotics Imprint
Data Privacy
Statement