X-Drive: Cross-modality Consistent Multi-Sensor Data Synthesis for Driving Scenarios - Xie, Yichen; Xu, Chenfeng; Peng, Chensheng; Zhao, Shuqi; Ho, Nhat; Pham, Alexander; Ding, Mingyu; Tomizuka, Masayoshi; Zhan, Wei (International Conference on Learning Representations, 2025)