Fast LiDAR Data Generation with Rectified Flows
ICRA 2025
Kazuto Nakashima1     Xiaowen Liu1     Tomoya Miyawaki1     Yumi Iwashita2     Ryo Kurazume1
1Kyushu University     2NASA Jet Propulsion Laboratory
Project | Paper | Code

This is a demo of our paper "Fast LiDAR Data Generation with Rectified Flows" accepted to ICRA 2025.
We propose R2Flow, a rectified flow-based LiDAR generative model which generate the LiDAR range/reflectance images.

Model checkpoint

RF: rectified flow, TD: timestep distillation
ODE solver

Fixed if TD enabled
Number of sampling steps

Fixed if TD enabled