CrossLiDAR: Controllable Multi-Sensor LiDAR Sequence Generation

Khanh Nguyen, Thomas Walker, Hichem Telli, Carlos de la Torre-Ortiz, Stefano Fiorini +4

High-fidelity LiDAR simulation remains a bottleneck for scalable development and validation of autonomous systems. Existing generators can synthesize realistic scans, but they are typically constrained to a single sensor configuration, offer limited control over structure and geometry, and drift in long-horizon 4D generation. We present CrossLiDAR, a unified transformer-based framework capable of generating controllable and spatio-temporally consistent multi-sensor LiDAR sequences. Our approach leverages a rectified flow objective with a Multi-Modal Diffusion Transformer (MM-DiT) backbone, within a compact latent space of range images. To support multiple LiDAR sensors, an Inter-sensor Module enables interaction across sensors, while a ControlNet-style branch provides structural conditioning (e.g., BEV priors or 3D bounding boxes). For modeling the temporal consistency, CrossLiDAR generates short $N$-frame sequences and extends them autoregressively to improve long-horizon coherence. Our model significantly outperforms state-of-the-art baselines, achieving an average improvement of 29.56\% in JSD and 15.36\% in MMD evaluated on nuScenes and the Waymo Dataset. CrossLiDAR bridges…