Zhipeng Luo

1.2, but I think the lidar files we use are the same across versions.

Other researchers have supported nuScenes dataset. For example, you can refer to the implementation in [this](https://github.com/Ghostish/Open3DSOT) repo.

Sorry, we are not allowed to provide a copy of the dataset according to Waymo policies. We use version 1.2, but other versions should work as well.

Thanks for your interest. PTTR++ is currently under review, so we will release it at a later time when we receive the outcome.

+1