@article{womdlidarrawsensordatasetbenchmarkfor,
  title = {WOMD-LiDAR: Raw Sensor Dataset Benchmark for Motion Forecasting},
  author = {Kan Chen and Runzhou Ge and Hang Qiu and Rami Ai-Rfou and Charles R. Qi and Xuanyu Zhou and Zoey Yang and Scott Ettinger and Pei Sun and Zhaoqi Leng and Mustafa Baniodeh and Ivan Bogun and Weiyue Wang and Mingxing Tan and Dragomir Anguelov},
  year = {2023},
  eprint = {2304.03834},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2304.03834v2},
}