A light detection and ranging, LIDAR, system comprising: a laser that is configured to generate light; a splitter that is configured to split the light into a plurality of split lights; a polarization controller configured to receive a first split light of the plurality of split lights, wherein the polarization controller includes a first stage including a first 2x2 splitter and a first phase shifter and a second stage including a second 2x2 splitter and a second phase shifter , the polarization controller including a first arm and a second arm , wherein the first arm includes the first phase shifter and the second phase shifter that are configured to be controlled to set a phase of light that passes through the first arm relative to the second arm, wherein the first 2x2 splitter is configured to split the first split light entering the first 2x2 splitter between its two output ports into the first and second arms of the first stage, wherein light in the first arm of the first stage passes through the first phase shifter , wherein light in the first and second arms of the first stage enters the second 2x2 splitter and outputs into the first and second arms of the second stage, wherein light in the first arm of the second stage passes through the second phase shifter ; and a dual-polarization grating coupler including a first port to receive light from the first arm and a second port configured to receive light from the second arm , wherein the dual-polarization grating coupler is configured to couple the light from the first port into a first beam having a first polarization orientation, and wherein the dual-polarization grating coupler is configured to couple the light from the second arm into a second beam with a second polarization orientation, wherein the first port of the dual-polarization grating coupler is optically coupled to the second phase shifter . a laser that is configured to generate light; a splitter that is configured to split the light into a plurality of split lights; a polarization controller configured to receive a first split light of the plurality of split lights, wherein the polarization controller includes a first stage including a first 2x2 splitter and a first phase shifter and a second stage including a second 2x2 splitter and a second phase shifter , the polarization controller including a first arm and a second arm , wherein the first arm includes the first phase shifter and the second phase shifter that are configured to be controlled to set a phase of light that passes through the first arm relative to the second arm, wherein the first 2x2 splitter is configured to split the first split light entering the first 2x2 splitter between its two output ports into the first and second arms of the first stage, wherein light in the first arm of the first stage passes through the first phase shifter , wherein light in the first and second arms of the first stage enters the second 2x2 splitter and outputs into the first and second arms of the second stage, wherein light in the first arm of the second stage passes through the second phase shifter ; and a dual-polarization grating coupler including a first port to receive light from the first arm and a second port configured to receive light from the second arm , wherein the dual-polarization grating coupler is configured to couple the light from the first port into a first beam having a first polarization orientation, and wherein the dual-polarization grating coupler is configured to couple the light from the second arm into a second beam with a second polarization orientation, wherein the first port of the dual-polarization grating coupler is optically coupled to the second phase shifter . <EOS>