La La LiDAR: Large-Scale Layout Generation from LiDAR Data
Liu, Youquan Kong, Lingdong Yang, Weidong Li, Xin Liang, Alan Chen, Runnan Fei, Ben Liu, Tongliang
Liu, Youquan
Kong, Lingdong
Yang, Weidong
Li, Xin
Liang, Alan
Chen, Runnan
Fei, Ben
Liu, Tongliang
Supervisor
Department
Machine Learning
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Conference proceeding
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Abstract
Controllable generation of realistic LiDAR scenes is crucial for applications such as autonomous driving and robotics. While recent diffusion-based models achieve high-fidelity LiDAR generation, they lack explicit control over foreground objects and spatial relationships, limiting their usefulness for scenario simulation and safety validation. To address these limitations, we propose Large-scale Layout-guided LiDAR generation model ("La La LiDAR"), a novel layout-guided generative framework that introduces semantic-enhanced scene graph diffusion with relation-aware contextual conditioning for structured LiDAR layout generation, followed by foreground-aware control injection for complete scene generation. This enables customizable control over object placement while ensuring spatial and semantic consistency. To support our structured LiDAR generation, we introduce Waymo-SG and nuScenes-SG, two large-scale LiDAR scene graph datasets, along with new evaluation metrics for layout synthesis. Extensive experiments demonstrate that La La LiDAR achieves state-of-the-art performance in both LiDAR generation and downstream perception tasks, establishing a new benchmark for controllable 3D scene generation.
Citation
Y. Liu, L. Kong, W. Yang, X. Li, A. Liang, R. Chen , et al., "La La LiDAR: Large-Scale Layout Generation from LiDAR Data," 2026, pp. 7377-7385.
Source
Proceedings of the AAAI Conference on Artificial Intelligence
Conference
Fortieth AAAI Conference on Artificial Intelligence
Keywords
40 Engineering, 46 Information and Computing Sciences, 4607 Graphics, Augmented Reality and Games
Subjects
Source
Fortieth AAAI Conference on Artificial Intelligence
Publisher
Association for the Advancement of Artificial Intelligence