3D Occupancy Prediction

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Overview

The field predicts which parts of 3D space are occupied, what they contain, and sometimes how they will move, supporting navigation and autonomous driving. Common approaches lift camera features into voxel or bird’s-eye-view grids, fuse LiDAR or radar, or use sparse and continuous representations such as 3D Gaussians; training can rely on dense labels, depth cues, or pseudo-labels from pretrained models. Current work extends single-frame semantic prediction toward temporal forecasting, panoptic tracking, open-vocabulary understanding, and online maps for robots in indoor, outdoor, and specialized settings. A central tension is balancing dense, accurate geometry with efficient inference and reliable generalization, while ensuring that better occupancy scores translate into safer downstream planning.

Latest papers

CardsList

113 papers21 papers in the last four weeks, up 24% on the four weeks before. 0.1% of all new papers.

  1. GCSR-OCC: Geometry Calibration and Semantic Routing for Open-Vocabulary Occupancy Prediction

    Oct 27, 2026Bohua Wang, Congyang Zhao, Tianxiong Lv +73D Occupancy PredictionSemantic Occupancy Mapping

    Alibaba Amap

  2. OVM-Occ: Open-Vocabulary Monocular Occupancy Prediction via Geometry-Aware Vision-Language Distillation

    Oct 26, 2026Shuyang Yu, Haibo Qin, Shaohan Hu +43D Occupancy Prediction3D Scene Understanding

    Zhejiang University. · AgiBot.

  3. LegoOcc++: Towards Consistent Open-Vocabulary 3D Occupancy Prediction

    Oct 25, 2026Changqing Zhou, Yueru Luo, Han Zhang +23D Occupancy Prediction3D Gaussian Splatting

    The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China · The Chinese University of Hong Kong, Shenzhen, China · Division of Emerging Interdisciplinary Areas, The Hong Kong University of Science and Technology, Hong Kong SAR 999077, China

  4. Foundation4D: Towards a unified perception and reconstruction model for autonomous vehicles

    Oct 21, 2026NVIDIA, :, Sérgio Agostinho +25Autonomous Driving Perception4D Scene Understanding

    NVIDIA

  5. FM-Occ: Feature-Diverse Upsampling and Memory-Aware Decoding for 3D Occupancy Prediction

    Oct 21, 2026Yujia Zhai, Guoming Huang, Zhuanghuai Wang +13D Occupancy Prediction3D Semantic Segmentation

    Great Bay University

  6. CoGaussian: Open-Vocabulary Gaussian-based Collaborative 3D Scene Understanding

    Oct 20, 2026Om Shivam Verma, Shaya Farahmand, Lingjun Zhao +13D Scene Understanding3D Occupancy Prediction

    Lunar Lab, Georgia Institute of Technology, Atlanta.

  7. VEOcc++: Learning Persistent Voxel Feature Maps for Embodied Online Semantic Occupancy Mapping and Offline Refinement

    Oct 20, 2026Ruoyu Wang, Jiahan Li, Yong Liu +1Semantic Occupancy Mapping3D Mapping

    APRIL Lab, Institute of Cyber-Systems and Control, Zhejiang University, China

  8. Where Do the Gaussians Go? Foreground Attraction for Camera-Based Weakly Supervised 3D Occupancy

    Oct 19, 2026Jeagon Song, Jhonghyun An3D Occupancy Prediction3D Scene Understanding

    School of Computing, Gachon University, Seongnam 13120, Republic of Korea.

  9. PanoBench: A Panoptic Occupancy Prediction Benchmark for Autonomous Driving

    Oct 16, 2026Yi Feng, Zizhan Guo, Junwu E +83D Occupancy PredictionAutonomous Driving Datasets

  10. FALCON: FPGA-Accelerated Latency-Certifiable Occupancy Networks for Camera-Based Autonomous Driving

    Oct 15, 2026Haohua Que, Mingkai Liu, Handong YaoAutonomous Driving PerceptionFPGA-Based Neural Network Acceleration

    College of Engineering, University of Georgia, Athens, Georgia, USA

  11. DriveWorld3D Evidence Constrained 3D World Modeling and Generative Simulation for Real-World Autonomous Driving

    Oct 15, 2026Wei Wang, Yiru Veronika Wang, Yihan Wang +2World Models for Autonomous DrivingAutonomous Driving Simulation

    Robostreet research team Cambridge, MA, USA

  12. Decision-FLIP: Budget-Free Structured Pruning for Gaussian Occupancy Models

    Oct 14, 2026Jingxing Li, Anurag Paul, Subhasis Das +1Model CompressionNeural Network Pruning

    Zoox Inc.

  13. RadarGSOcc: Doppler-Aware 3D Semantic Occupancy Prediction Using 4D Radar Tensor with Geometric-Semantic Feature Extraction

    Oct 13, 2026Christofel Rio Goenawan, Dong-Hee Paek, Seung-Hyun Kong3D Occupancy PredictionAutonomous Driving Perception

    Robotics Program, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea · CCS Graduate School of Mobility, KAIST, Daejeon, Korea · Department of Future Mobility, Korea University, Sejong, Korea

  14. OccWAM: Occupancy World-Action Models with Joint Scene-to-Ego Flow Matching

    Oct 13, 2026Qihang Huang, Wenhui Huang, Collister Chua +6World Action ModelsWorld Models for Autonomous Driving

    Nanyang Technological University, Singapore · Tongji University, Shanghai, China · Agency for Science, Technology and Research (A*STAR), Singapore

  15. ReForesight: Occlusion-Robust Re-Identification and Future Occupancy Forecasting for Dynamic Semantic Mapping

    Oct 12, 2026Didar Seyidov, Faith Ogunwoye, Hajira Amjad +3Query Re-IdentificationTrajectory Prediction

    Skolkovo Institute of Science and Technology, Moscow, Russia · 168robotics, Moscow, Russia

  16. SpikeOcc: Towards Resilient Multimodal 3D Occupancy Perception via Spiking Experts

    Oct 11, 2026Yiding Sun, Zijie Xu, Hongqiang Lin +73D Occupancy PredictionMultimodal Robustness

    Peking University · Xi’an Jiaotong University · Zhejiang University +1

  17. GNFormer: Gaussian Neural Field Transformer for Efficient Camera-based Occupancy Prediction

    Oct 11, 2026Guangcheng Chen, Li He, Hong Zhang3D Occupancy Prediction3D ViTs

    Department of Electronic and Electrical Engineering, Southern University of Science and Technology, China · Shenzhen Key Laboratory of Robotics and Computer Vision, Southern University of Science and Technology, Shenzhen, China

  18. InfraWorld: Motion-Aware World Modeling for Roadside 4D Occupancy Forecasting

    Oct 10, 2026Songkai Wang, Xiaokai Bai, Lei Yang +1Spatiotemporal Forecasting3D Occupancy Prediction

    College of Information Science and Electronic Engineering, Zhejiang University. · School of Mechanical and Aerospace Engineering, Nanyang Technological University.

  19. LighTROcc: Lightweight 4D Occupancy Forecasting via Instance-Centric 3D Gaussians

    Oct 7, 2026Hwanhee Jung, SeungHyeon Kim, Inkyu Koo +33D Occupancy Prediction4D Scene Understanding

    Korea University · University of Texas at Austin · Korea Advanced Institute of Science & Technology

  20. SelectOccFlow: Selective Spatiotemporal Aggregation for 3D Occupancy and Scene Flow Prediction

    Oct 3, 2026Yuhang Wang, Kai Luo, Yuanfan Zheng +1Scene Flow Estimation3D Occupancy Prediction

    School of Artificial Intelligence and Robotics and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, China · National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, China

  21. CrowdOcc: Monocular Semantic Scene Completion for Quadruped Robots in Crowded Indoor Environments

    Oct 2, 2026Feiyang Chen, Jincheng Hu, Yiduo Chen +53D Occupancy Prediction3D Scene Completion

    Tongji University, Shanghai, China. · Loughborough University, Loughborough, United Kingdom.

  22. AdaOcc: Adaptive 3D Occupancy Prediction for Embodied Tasks

    Sep 30, 2026Jinglong Wang, Yunjie Wang, Zhiyang Zhang +43D Occupancy PredictionAdaptive Computation

    Beihang University · Beijing Academy of Artificial Intelligence · Hebei University of Technology +3

  23. Planning Oriented 3D Scene Completion via Coupled TUDF Occupancy Representation Learning from Partial Observations

    Sep 29, 2026Tianyou Yu, Pengfei Zhao, Chao Xu3D Occupancy Prediction3D Representation Learning

    Institute of Cyber-System and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China.

  24. AquaBEV-Nav: Learned BEV Occupancy for Underwater Navigation and Exploration

    Sep 26, 2026Trung Tien Dong, Zhenqi Wu, Sahasra Kondapalli +3Autonomous Underwater NavigationUnderwater Robotics

    1ERA Lab, University of South Florida, Florida, USA · University of Maryland- College Park, College Park, Maryland · 2YES Lab, University of South Florida, Florida, USA

  25. TriO: Tri-Modal Unsupervised Occupancy World Model for Anything Perception

    Sep 25, 2026Quinlan Sykora, Sourav Biswas, Christopher Diehl +3Unsupervised LearningAutonomous Driving Perception

    Waabi · University of Toronto

  26. SplatLabel: Pseudo-Labelling through 4D Gaussian Splatting

    Sep 24, 2026Nitya Nanvani, Andras Palffy, Holger Caesar3D Gaussian Splatting3D Semantic Segmentation

    Perciv AI, The Netherlands · Delft University of Technology, The Netherlands

  27. RoadOcc Learns When to Persist, Transport, or Refresh Memory for Roadside Occupancy Prediction

    Sep 23, 2026Xiaokai Bai, Lei Yang, Songkai Wang +3Autonomous Driving Perception3D Occupancy Prediction

    College of Information Science and Electronic Engineering, Zhejiang University · School of Mechanical and Aerospace Engineering, Nanyang Technological University · School of Automotive Studies, Tongji University

  28. Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance

    Sep 22, 2026Yuhui Mao, Fen Liu, Shenghai Yuan +3Robot Navigation3D Occupancy Prediction

    School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798

  29. Driving on Registers, Reasoning on Risk: Risk-Aware Occupancy for Register-Based End-to-End Autonomous Driving

    Sep 18, 2026Jiaxing Chen, Hengduo Zou, YuKai Qin +3End-to-End Autonomous DrivingAutonomous Driving Planning

    School of Vehicle and Mobility, Tsinghua University · The Hong Kong University of Science and Technology (Guangzhou) · Neolix, Beijing, China

  30. Risk-Aware Occupancy for Safety-Oriented End-to-End Autonomous Driving

    Sep 18, 2026Jiaxing Chen, Hengduo Zou, Yiren Zhao +1End-to-End Autonomous Driving3D Occupancy Prediction

    School of Vehicle and Mobility, Tsinghua University · The Hong Kong University of Science and Technology (Guangzhou)