arXiv: cs.AI preprintsInternational6 November 2026
LSD-3D: Large-Scale 3D Driving Scene Generation with Geometry Grounding
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arXiv:2508.19204v2 Announce Type: replace-cross Abstract: Large-scale scene data is essential for training and testing in robot learning. Neural reconstruction methods have promised the capability of reconstructing large physically-grounded outdoor scenes from captured sensor data. However, these methods have baked-in static environments and only allow for limited scene control -- they are functionally constrained in scene and trajectory diversity by the captures from which they are reconstructed. In contrast, generating driving data with recent image or video diffusion models offers control,
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