2024/09/19 by Volodymyr Shcherbyna, Linh Kästner, Shcherbyna1, Volodymyr +16 · 6 citations
Engineering · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Robotics (cs.RO) #Robotics and Automated Systems
paper · pdf · doi:10.48550/arxiv.2409.12471
openalex publication_date 2024/09/19 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.