@article{r3d2realistic3dassetinsertionvia,
  title = {R3D2: Realistic 3D Asset Insertion via Diffusion for Autonomous Driving Simulation},
  author = {William Ljungbergh and Bernardo Taveira and Wenzhao Zheng and Adam Tonderski and Chensheng Peng and Fredrik Kahl and Christoffer Petersson and Michael Felsberg and Kurt Keutzer and Masayoshi Tomizuka and Wei Zhan},
  year = {2025},
  eprint = {2506.07826},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2506.07826v1},
}