Demonstrating Arena 5.0: A Photorealistic ROS2 Simulation Framework for Developing and Benchmarking Social Navigation

arXiv:2610.11220 · cs.RO · Submitted 2026-10-08 · Read on arXiv

cs.RO

Submitted: 2026-10-08

Updated: 2026-10-08

Code: https://github.com/ros-planning/navigation2

Terminology

• Benchmarking — 33× in this paper · explained in 3 episodes
• Benchmark — 24× in this paper · explained in 2 episodes
• Reinforcement Learning — 8× in this paper · explained in 4 episodes
• Diffusion Model — 4× in this paper · explained in 8 episodes
• Core — 3× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 3× in this paper
• Generative AI — 2× in this paper · explained in 2 episodes
• Social Force Model — 2× in this paper
• Abstraction — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Adaptive Planning — 1× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Entanglement — 1× in this paper · explained in 3 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• Principles and Guidelines for Evaluating Social Robot Navigation Algorithms
• Unifying Large Language Model and Deep Reinforcement Learning for Human-in-Loop Interactive Socially-aware Navigation
• VLM-Social-Nav: Socially Aware Robot Navigation through Scoring using Vision-Language Models
• SOCIALGYM: A Framework for Benchmarking Social Robot Navigation
• HouseDiffusion: Vector Floorplan Generation via a Diffusion Model with Discrete and Continuous Denoising
• Mixed Diffusion for 3D Indoor Scene Synthesis
• SICNav: Safe and Interactive Crowd Navigation using Model Predictive Control and Bilevel Optimization

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