Is `ego_pose` in nuPlan smoothed by any offline LiDAR-SLAM step?

Hi nuPlan team,

Could you please clarify whether the released `ego_pose` is purely the real-time GNSS + IMU fusion output, or whether any offline LiDAR-SLAM smoothing is applied?

If offline smoothing is applied, could you briefly name the algorithm used and give an idea of the resulting accuracy gain (e.g., RMS improvement)?

Thank you for your time!