About LiDAR Rendering

[jianingwangind]

Thanks for sharing this amazing work!

In the paper regarding to the AITO M9 experiment settings, LiDAR is required as input for Base Model, so are LiDAR points included in synthetic data along with RGBs? In other words, is LiDAR also rendered by 3D GS?

Looking forward to your reply :)

[WCJ-BERT]

Thanks for your interest in our work.

In the publicly released academic implementation, MTGS is used to render camera observations. LiDAR rendering is not implemented in the current public pipeline, so synthetic rollouts generated by this pipeline should not be interpreted as containing 3DGS-rendered LiDAR point clouds.

For the ADS experiment, the paper describes the heterogeneous sensor suite used by the production system, but the detailed modality composition and data pipeline of the production-side World Engine clips are outside the scope of the academic public release.

We hope this clarification is helpful, and we sincerely appreciate your interest in World Engine.