{"paper":{"title":"4DLidarOpen: An Open 4D FMCW Lidar Dataset for Motion-Aware Autonomous Driving","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Diange Yang, Kai Sun, Kane Qian, Kaojin Zhu, Kun Jiang, Mengmeng Yang, Rujun Yan, Xin Zhao, Yining Shi, Zhengqing Pan","submitted_at":"2026-05-18T08:55:32Z","abstract_excerpt":"We present 4DLidarOpen, a large-scale open multi-modal dataset for autonomous driving, centered on 4D frequency-modulated continuous-wave (FMCW) Lidar sensing. Unlike conventional time-of-flight Lidar datasets that mainly provide geometric measurements, 4DLidarOpen includes point-wise radial velocity measurements from a forward-facing 4D FMCW Lidar, together with multiple Lidars of different types, including rotating, solid-state, and blind-spot variants, surround-view cameras, and 6-DOF ego-vehicle poses. The dataset was collected in complex urban environments in Beijing and covers dense pede"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.18074","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.18074/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"claim_evidence","ran_at":"2026-05-19T23:41:59.243050Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T23:33:35.458433Z","status":"skipped","version":"1.0.0","findings_count":0}],"snapshot_sha256":"5fec1ab229b556ddb5875b0e797caf349ecb6b6fdc8b9f91d10602d81958dfbd"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}