All 7 lidars, 100 frames; ego car and moving objects removed by the benchmark mask.
Fly: W/A/S/D, E/Q up/down, hold Shift = 5x faster, drag to look; scroll or +/- change the base speed. O = orbit, P = fly. Space = play / pause frames, ← → = previous / next frame.

W / ↑ throttle, S / ↓ brake and reverse, A D / ← → steer, Space = hand brake, V = chase / driver view, R = back to the start, Esc = stop driving. Walls, poles, parked cars and the map border (unobserved space) block the car (drive grid: drive_grid.py).