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| Main Authors: | , , , , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2409.12471 |
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| _version_ | 1866917779794296832 |
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| author | Shcherbyna1, Volodymyr Kästner, Linh Diaz, Diego Nguyen, Huu Giang Schreff, Maximilian Ho-Kyoung Lenz, Tim Kreutz, Jonas Martban, Ahmed Zeng, Huajian Soh, Harold |
| author_facet | Shcherbyna1, Volodymyr Kästner, Linh Diaz, Diego Nguyen, Huu Giang Schreff, Maximilian Ho-Kyoung Lenz, Tim Kreutz, Jonas Martban, Ahmed Zeng, Huajian Soh, Harold |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_12471 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Arena 4.0: A Comprehensive ROS2 Development and Benchmarking Platform for Human-centric Navigation Using Generative-Model-based Environment Generation Shcherbyna1, Volodymyr Kästner, Linh Diaz, Diego Nguyen, Huu Giang Schreff, Maximilian Ho-Kyoung Lenz, Tim Kreutz, Jonas Martban, Ahmed Zeng, Huajian Soh, Harold Robotics Artificial Intelligence 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. |
| title | Arena 4.0: A Comprehensive ROS2 Development and Benchmarking Platform for Human-centric Navigation Using Generative-Model-based Environment Generation |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2409.12471 |