# OpenTwinMap: An Open-Source Digital Twin Generator for Urban Autonomous Driving

arXiv: https://arxiv.org/abs/2511.21925 · HTML: https://mlsanity.com/paper/2511.21925/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in World models for autonomous driving, one of 11 directions in World models.
- Builds on 6 of its 12 references that are in the map.
- First posted on arXiv 26 Nov 2025.

## Placed in

- World models / [World models for autonomous driving](https://mlsanity.com/wm/world-models-for-autonomous-driving/)
- End-to-end autonomous driving / [Generative simulation for driving](https://mlsanity.com/driving/generative-simulation-for-driving/)

## Builds on (most cited first, 6 of 6)

- [DrivingGPT: Unifying Driving World Modeling and Planning with Multi-modal Autoregressive Transformers](https://mlsanity.com/paper/2412.18607/) (2024)
- [Cosmos-Drive-Dreams: Scalable Synthetic Driving Data Generation with World Foundation Models](https://mlsanity.com/paper/2506.09042/) (2025)
- [Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysis](https://mlsanity.com/paper/2506.11526/) (2025)
- [Ctrl-Crash: Controllable Diffusion for Realistic Car Crashes](https://mlsanity.com/paper/2506.00227/) (2025)
- [LSD-3D: Large-Scale 3D Driving Scene Generation with Geometry Grounding](https://mlsanity.com/paper/2508.19204/) (2025)
- [When Digital Twins Meet Large Language Models: Realistic, Interactive, and Editable Simulation for Autonomous Driving](https://mlsanity.com/paper/2507.00319/) (2025)

## Abstract (arXiv)

Digital twins of urban environments play a critical role in advancing autonomous vehicle (AV) research by enabling simulation, validation, and integration with emerging generative world models. While existing tools have demonstrated value, many publicly available solutions are tightly coupled to specific simulators, difficult to extend, or introduce significant technical overhead. For example, CARLA-the most widely used open-source AV simulator-provides a digital twin framework implemented entirely as an Unreal Engine C++ plugin, limiting flexibility and rapid prototyping. In this work, we propose OpenTwinMap, an open-source, Python-based framework for generating high-fidelity 3D urban digital twins. The completed framework will ingest LiDAR scans and OpenStreetMap (OSM) data to produce semantically segmented static environment assets, including road networks, terrain, and urban structures, which can be exported into Unreal Engine for AV simulation. OpenTwinMap emphasizes extensibility and parallelization, lowering the barrier for researchers to adapt and scale the pipeline to diverse urban contexts. We describe the current capabilities of the OpenTwinMap, which includes preprocessing of OSM and LiDAR data, basic road mesh and terrain generation, and preliminary support for CARLA integration.