Arena 40: A Comprehensive ROS2 Development and Benchmarking Platform for Human-centric Navigation Using Generative-Model-based Environment Generation
<|reference_start|>Arena 40: A Comprehensive ROS2 Development and Benchmarking Platform for Human-centric Navigation Using Generative-Model-based Environment Generation: Building on the foundations of our previous work, this paper introduces Arena 4.0, a significant advancement over Arena 3.0, Arena-Bench, Arena 1.0, and Arena 2.0. Arena 4.0 offers three key novel contributions: (1) a generative-model-based world and scenario generation approach that utilizes large language models (LLMs) and diffusion models to dynamically generate complex, human-centric environments from text prompts or 2D floorplans, useful for the development and benchmarking of social navigation strategies; (2) a comprehensive 3D model database, extendable with additional 3D assets that are semantically linked and annotated for dynamic spawning and arrangement within 3D worlds; and (3) a complete migration to ROS 2, enabling compatibility with modern hardware and enhanced functionalities for improved navigation, usability, and easier deployment on real robots. We evaluated the platform's performance through a comprehensive user study, demonstrating significant improvements in usability and efficiency compared to previous versions. Arena 4.0 is openly available at https://github.com/Arena-Rosnav.<|reference_end|>
@article{shcherbyna12024arena,
    title={Arena 4.0: A Comprehensive ROS2 Development and Benchmarking Platform
  for Human-centric Navigation Using Generative-Model-based Environment
  Generation},
    author={Volodymyr Shcherbyna1, Linh K"astner, Diego Diaz, Huu Giang Nguyen,
  Maximilian Ho-Kyoung Schreff, Tim Lenz, Jonas Kreutz, Ahmed Martban, Huajian
  Zeng, Harold Soh},
    journal={arXiv preprint arXiv:2409.12471},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.12471},
    primaryClass={cs.RO cs.AI}
}