{"ID":6138900,"CreatedAt":"2026-07-09T01:07:32.349475501Z","UpdatedAt":"2026-07-10T22:16:18.90904708Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.06838","arxiv_id":"2607.06838","title":"WildCity: A Real-World City-Scale Testbed for Rendering, Simulation, and Spatial Intelligence","abstract":"Humans can navigate an unfamiliar city and gradually form a coherent spatial mental map spanning tens of square kilometers. Can AI build spatial representations at a comparable scale? Although recent foundation models have advanced scene reconstruction and embodied intelligence, scaling to entire cities remains an open challenge, primarily due to the lack of city-scale data. To bridge the gap, we introduce WildCity, a real-world multimodal dataset collected by autonomous fleets traversing complex urban environments. Our dataset includes 18 trajectories, each averaging 83.7 kilometers in length, and preserves the core challenges of in-the-wild perception, e.g., dynamic objects, lighting variations, and imperfect camera poses. We further establish an urban-tailored reconstruction baseline and convert the reconstructed environments into a closed-loop simulator. Beyond the dataset and baseline, we systematically analyze the key challenges on the path to simulation-ready urban digital twins: scalability, extrapolation, and uncertainty. Ultimately, WildCity aims to catalyze progress not only in city-scale rendering, but more broadly in the pursuit of AI that can perceive, remember, and reason across space at a scale comparable to human cognition. Project page: https://han-xiangyu.github.io/Wild-City/","short_abstract":"Humans can navigate an unfamiliar city and gradually form a coherent spatial mental map spanning tens of square kilometers. Can AI build spatial representations at a comparable scale? Although recent foundation models have advanced scene reconstruction and embodied intelligence, scaling to entire cities remains an open...","url_abs":"https://arxiv.org/abs/2607.06838","url_pdf":"https://arxiv.org/pdf/2607.06838v1","authors":"[\"Xiangyu Han\",\"Mengyu Yang\",\"Jiaqi Li\",\"Bowen Chang\",\"Ziyu Chen\",\"Hexu Zhao\",\"Rahul Kumar Agrawal\",\"Anthony Rodriguez\",\"Fiona Hua\",\"Marco Pavone\",\"Chen Feng\",\"Yiming Li\"]","published":"2026-07-07T22:19:51Z","proceeding":"cs.CV","tasks":"[\"cs.CV\"]","methods":"[]","has_code":false}