3D Occupancy Prediction

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11 papers in the last four weeks, up 120% on the four weeks before. 0.1% of all new papers.

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  1. 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 · XYZ Embodied AI +3

  2. 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.

  3. 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

  4. 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

  5. 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

  6. 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

  7. Needles in a Raystack: Ultra-Sparse LiDAR Occupancy Detection for Bat Tracks

    Sep 17, 2026Nico Klar, Pankaj Rana, Nizam Gifary +23D Occupancy Prediction

    Center for Solar Energy and Hydrogen Research (ZSW), Stuttgart, Germany · University of Stuttgart, Institute of Flight Mechanics and Control (iFR), Flight Robotics and Perception Group (FRPG), Stuttgart, Germany

  8. 4D Radar Perception Algorithms for Autonomous Driving: A Review

    Sep 16, 2026Xumin Wu, Jun Zhou, Jilin Mei +2Millimeter-Wave RadarmmWave Radar Sensing

    Institute of Computing Technology, Chinese Academy of Sciences, Beijing 100190, China · Beijing Jingwei Hirain Technologies Co., Inc., Beijing, China

  9. Risk-Aware World Modeling with Flow-Guided Occupancy Evolution for Selective Trajectory Planning in Automated Driving

    Sep 16, 2026Rongxiang Zeng, Linsen Cai, Jiafu Zhang +7World Model-Based Planning3D Occupancy Prediction

    RWTH Aachen University, Aachen, Germany · Monash University, Melbourne, Australia · Technical University of Munich (TUM), Munich, Germany

  10. Exploring 2D backbone effects for indoor semantic occupancy prediction

    Sep 15, 2026Shizhang Fanga, Wanling Yea, Qi ZhengVision Foundation ModelsSemantic Occupancy Mapping

    aCollege of Electronics and Information Engineering, Shenzhen University, Shenzhen, China

  11. Rethinking Learned Occupancy in Autonomous Active Mapping with Observation-Gated Filtering

    Sep 8, 2026Jiahui Zhang, Bonian Han, Gongbo Liang +1Space RoboticsRobotics

    Boise State University · Texas A&M University–San Antonio

  12. LetOccVote: Learning Weakly Supervised 3D Occupancy through Consensus

    Sep 4, 2026Chi Zhang, Qi Song, Feifei Li +23D Occupancy PredictionPseudo-Labeling

    Tsinghua University · Shenzhen Polytechnic University

  13. InfraOcc: An Infrastructure Occupancy Benchmark with Static-to-Dynamic Reasoning

    Aug 31, 2026Lei Yang, Xiaokai Bai, Boqi Li +8Autonomous Driving BenchmarksSemantic Occupancy Mapping

    School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore

  14. OccPlanner: Goal-Aware Occupancy-Conditioned Diffusion Planner for PixelGoal Navigation

    Aug 14, 2026Binling Huang, Nianjin Ye, Xi Yang +6Visual NavigationTrajectory Generation

    Changhong Intelligent Robot University of Electronic Science and Technology of China

  15. Geometry-Grounded Unified 3D Perception for Autonomous Driving

    Aug 13, 2026Longfei Xu, Xiaohui Wang, Zehao Huang +4Depth EstimationAutonomous Driving Perception

    School of Computer Science and Engineering Beihang University Beijing, China · School of Computer Science Beijing University of Posts and Telecommunications Beijing, China · School of Artificial Intelligence Beihang University Beijing, China

  16. UnsDrive: Towards Robust End-to-End Autonomous Driving in Unstructured Scenes

    Aug 10, 2026Nanxin Zeng, Ruiqi Song, Xiangyu Guo +2End-to-End Autonomous DrivingAutonomous Driving

    Institute of Automation, Chinese Academy of Sciences Beijing, China · Waytous Inc. Beijing, China

  17. OccAnyScene: Towards Unified Indoor-Outdoor 3D Occupancy Prediction

    Aug 9, 2026Junjie Liu, Wanshui Gan, Zitong Dai +63D Gaussian Splatting3D Occupancy Prediction

    Pengcheng Laboratory · SUSTech · Shanghai Artificial Intelligence Laboratory +1

  18. Geospatial-Prior Guidance for 3D Semantic Scene Completion

    Aug 4, 2026Meng Wang, Shougao Zhang, Wenzhe He +43D Occupancy Prediction3D Shape Completion

    College of Computer Science and Electronic Engineering, Hunan University, Hunan, China

  19. Group-wise Supervision with Focal-Dice Loss for Long-Tailed Indoor Semantic Occupancy Prediction

    Jul 31, 2026Qi Zheng, Zihuang Su, Xiao PanLong-Tailed Classification3D Occupancy Prediction

    Guangdong Key Laboratory of Intelligent Information Processing, College of Electronics and Information Engineering, Shenzhen University, Shenzhen 518060, China

  20. InterOCF: Spatio-Temporal 2D-3D Interaction for Camera-Only 4D Occupancy Forecasting

    Jul 27, 2026Qi Zhang, Xinquan Yu, Kaiyi Zhang +13D Occupancy PredictionSpatiotemporal Forecasting

    College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China.

  21. Learning Adaptive Semantic Gaussian Allocation for 3D Occupancy

    Jul 24, 2026Kanglin Ning, Yiran Zhao, Wenrui Li +43D Gaussian SplattingSemantic Occupancy Mapping

    Harbin Institute of Technology · The Suzhou Research Institute of HIT · The PengChengLab

  22. GaussianSeed: Hierarchical Gaussian Seeding for High-Resolution 3D Occupancy Prediction

    Jul 22, 2026Xinzhuo Li, Xianghui Pan, Jiayuan Du +4Autonomous Driving Perception3D Occupancy Prediction

    Tongji University, Shanghai, China

  23. VGOcc: Learning Visual-Geometric Gaussians for Vision-Centric 3D Driving Occupancy Prediction

    Jul 20, 2026Junhong Lin, Xianda Guo, Kangli Wang +4Autonomous Driving3D Occupancy Prediction

    1SECE, Peking University · School of Computer Science, Wuhan University · 3Great Wall Motor

  24. RayOcc: Occlusion-Aware Ray Occupancy Estimation via Gaussian Mixture Intensity

    Jul 20, 2026Junho Kim, Seongwon LeeSemantic Occupancy Mapping3D Occupancy Prediction

    School of Electrical Engineering, Kookmin University, Seoul 02707, South Korea

  25. GPOcc++: Unified Sparse Gaussian Occupancy Prediction with Visual Geometry Priors

    Jul 15, 2026Changqing Zhou, Yueru Luo, Yulan Guo +33D Occupancy Prediction3D Scene Representation

    The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China · The Chinese University of Hong Kong, Shenzhen, China · The School of Electronics and Communication Engineering, Sun Yat-sen University, Shenzhen 518107, China +3

  26. 4DR360: State Reasoning for Joint 3D Detection and Occupancy Prediction in 4D Radar-Camera Full-Scene Perception

    Jul 10, 2026Xiaokai Bai, Lianqing Zheng, Runwei Guan +3Camera-Radar FusionMillimeter-Wave Radar

    College of Information Science and Electronic Engineering, Zhejiang University. · School of Automotive Studies, Tongji University. · Thrust of Artificial Intelligence, Hong Kong University of Science and Technology.

  27. GEM-Occ: From Visual Geometry Evidence to Embodied Semantic Occupancy Memory

    Jul 6, 2026Hu Zhu, Bohan Li, Xianda Guo +8Semantic Occupancy Mapping3D Occupancy Prediction

    The Hong Kong Polytechnic University · Eastern Institute of Technology · Shanghai Jiao Tong University +3

  28. SparseOcc++: Geometry-Aware Sparse Latent Representation for Semantic Occupancy Prediction

    Jul 6, 2026Pin Tang, Zhongdao Wang, Guoqing Wang +23D ReconstructionAutonomous Driving Perception

    MoE Key Lab of Artificial Intelligence, AI Institute, Shanghai Jiao Tong University, Shanghai 200240, China · Huawei Noah’s Ark Lab, China

  29. FDR-Occ: Factorized Dense Routing for Full-Spectrum 3D Occupancy Prediction

    Jul 4, 2026Dubing Chen, Huan Zheng, Tianyi Yan +5Autonomous Driving3D Occupancy Prediction

    SKL-IOTSC, CIS, University of Macau · Chongqing Afari Intelligent Drive Co., Ltd. · Geely Automobile Research Institute (Ningbo) Co., Ltd.

  30. Sparse-Aware Vector Quantization for Bandwidth-Efficient Collaborative 3D Semantic Occupancy Prediction

    Jul 2, 2026Feng Li, Chaokun Zhang, Gong ChenCommunication-Efficient Collaborative Perception3D Occupancy Prediction

    School of Computer Science and Technology, Tianjin University, Tianjin, China · School of Cybersecurity, Tianjin University, Tianjin, China

  31. Bridging 3D Gaussians and Semantic Occupancy for Comprehensive Open-Vocabulary Scene Understanding from Unposed Images

    Jul 2, 2026Hu Zhu, Bohan Li, Xianda Guo +53D Gaussian SplattingOpen-Vocabulary 3D Segmentation

    Department of Computing, The Hong Kong Polytechnic University, Hong Kong, SAR, China · Eastern Institute of Technology, Ningbo, China · Shanghai Jiao Tong University, Shanghai, China +4

  32. GaussianFusion: Unified 3D Gaussian Representation for Multi-Modal Fusion Perception

    Jul 1, 2026Xiao Zhao, Chang Liu, Mingxu Zhu +53D Gaussian Splatting3D Occupancy Prediction

    Tencent, Autonomous Driving Lab, Beijing, 100000, CN

  33. Semantic Occupancy Prediction with Dual Range-Voxel Representation

    Jun 30, 2026Sitao Chen, Zhuangwei Zhuang, Hui Luo +3Autonomous Driving PerceptionSemantic Occupancy Mapping

    School of Software Engineering, South China University of Technology, Guangzhou 510006, China · State Key Laboratory of Optical Field Manipulation Science and Technology, Institute of Optics and Electronics, CAS, Chengdu 610209, China

  34. Streaming Gaussian Encoding for 4D Panoptic Occupancy Tracking

    Jun 29, 2026Maximilian Luz, Thomas Nürnberg, Yakov Miron +1Autonomous Driving3D Occupancy Prediction

    Department of Computer Science, University of Freiburg, Germany. · Bosch Research, Robert Bosch GmbH, Germany. · University of Haifa, Israel

  35. OWMDrive: Causality-Aware End-to-End Autonomous Driving via 4D Occupancy World Model

    Jun 29, 2026Junjie Cheng, Ruiqi Song, Ye Wu +3Causal World ModelsEnd-to-End Autonomous Driving

    The School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China · Waytous Inc., Qingdao 266109, China · The State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China +1

  36. CascadeOcc: Rethinking 3D Occupancy World Models with Cascaded VQ Representations

    Jun 26, 2026Kyumin Hwang, Wonhyeok Choi, Jaeyeul Kim +3World Model Learning3D Occupancy Prediction

    Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu 42988, South Korea

  37. Learning 3D Affordances for Blade Insertion in Cluttered Stowing

    Jun 25, 2026Tianyu Li, Harpreet Sawhney, Minju Jung +3Robotic Insertion3D Occupancy Prediction

    Amazon Robotics, USA

  38. Humanoid-OmniOcc: Stereo-Based Full-View Occupancy Dataset for Embodied AI

    Jun 22, 2026Xianda Guo, Bohao Zhang, Chenwei Huang +6Sim-to-Real TransferSynthetic Data Generation for Robotics

    School of Computer Science, Wuhan University · †Work was done during an internship at D-Robotics. · D-Robotics +2

  39. FLM-Occ: Feed-forward Likelihood Maximization for Efficient Indoor Occupancy Prediction

    Jun 19, 2026Guangcheng Chen, Lihuang Fang, Huaqi Tao +33D Occupancy Prediction

    Southern University of Science and Technology · Shenzhen Key Laboratory of Robotics and Computer Vision · Guangdong Laboratory of Artificial Intelligence and Digital Economy (Shenzhen)

  40. Occ-VLM: Occupancy Grounded Vision Language Model for Indoor Scene Understanding

    Jun 18, 2026Jianing Li, Zhou Fang, Yijiang Liu +13D Occupancy Prediction3D VQA

    School of Electronic Science and Engineering, Nanjing University

  41. Monocular 3D Occupancy Perception for Robots on Sidewalks via Hybrid 2D-3D Learning

    Jun 17, 2026Yukai Ma, Joe Lin, Liu Liu +43D Occupancy PredictionRobotic Perception

    University of California, Los Angeles · Zhejiang University · Coco Robotics +1

  42. VISA: VLM-Guided Instance Semantic Auditing for 3D Occupancy World Models

    Jun 11, 2026Ruiqi Xian, Yuehan Xian, Jing Liang +2Cross-Modal Knowledge DistillationWorld Model Learning

    University of Maryland College Park, USA · Independent Researcher, USA · Standford University, USA +1

  43. MAD: Mapping-Aware World Models for Agile Quadrotor Flight

    Jun 3, 2026Xinhong Zhang, Runqing Wang, Yunfan Ren +6Robot Policy LearningWorld Models for Robotics

    State Key Lab of Autonomous Intelligent Unmanned Systems, Beijing Institute of Technology, Beijing 100081, China · Zhongguancun Academy, Beijing 100094, China · School of Computer Science and Technology, Tongji University +2

  44. UnsOcc: 3D Semantic Occupancy Prediction in Unstructured Scene via Rendering Fusion

    Jun 2, 2026Ye Wu, Ruiqi Song, Baiyong Ding +33D Occupancy PredictionMultimodal Sensor Fusion

    School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China · Institute of Automation, Chinese Academy of Sciences, Beijing, China · Waytous Inc., Beijing, China

  45. Trans2Occ: Voxel Occupancy Estimation and Grasp for Transparent Objects from Simulation to Reality

    Jun 1, 2026Yixuan Yang, Sha Zhang, Rui Li +12Robotic Grasping3D Occupancy Prediction

    1Shanghai AI Laboratory · 3CUHK · 4Harbin Institute of Technology +5

  46. SkyShield: Occupancy as a Safety Interface for Low-Altitude UAV Autonomy

    May 30, 2026Jie Gao, Jie Ma, Kaihui Lin +4Aerial RoboticsUAV Navigation

    1Xiamen University · 2Jiangxi Academy of Sciences

  47. Deformable Gaussian Occupancy: Decoupling Rigid and Nonrigid Motion with Factorized Distillation

    May 27, 2026Yang Gao, Wuyang Li, Po-Chien Luan +13D Gaussian SplattingAutonomous Driving Perception

    ´Ecole Polytechnique F´ed´erale de Lausanne (EPFL), Switzerland

  48. VEOcc: Voxel-Centric Online Semantic Occupancy Prediction For Embodied Scene Understanding

    May 24, 2026Ruoyu Wang, Yong Liu, Sheng Tao +2Simultaneous Localization and MappingSemantic Occupancy Mapping

    Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China.

  49. GEM: Gaussian Evolution Model for Occupancy Forecasting and Motion Planning

    May 17, 2026Cheng Chen, Hao Huang, Saurabh Bagchi3D Gaussian SplattingWorld Model Learning

    Purdue University · New York University Abu Dhabi

  50. VGGT-Occ: Geometry-Grounded and Density-Aware Gated Fusion for 3D Occupancy Prediction

    May 16, 2026Xun Chen, Tianchen Deng, Rui Wang +53D Semantic Segmentation3D Occupancy Prediction

    Nanyang Technological University · Shanghai Jiao Tong University · ETH Zurich

  51. WeatherOcc3D: VLM-Assisted Adverse Weather Aware 3D Semantic Occupancy Prediction

    May 15, 2026A. Enes Doruk, Abdelaziz Hussein, Hasan F. AtesMultimodal RobustnessCamera-LiDAR Fusion

    Department of Artificial Intelligence and Data Engineering Ozyegin University Istanbul, Türkiye

  52. Height-Guided Projection Reparameterization for Camera-LiDAR Occupancy

    May 6, 2026Yuan Wu, Zhiqiang Yan, Jiawei Lian +2Camera-LiDAR FusionBird's-Eye-View Representation

    1Nanjing University of Science and Technology · 2National University of Singapore

  53. FreeOcc: Training-Free Embodied Open-Vocabulary Occupancy Prediction

    Apr 30, 2026Zeyu Jiang, Changqing Zhou, Xingxing Zuo +1Semantic Occupancy Mapping3D Occupancy Prediction

    The Hong Kong University of Science and Technology (Guangzhou) · MBZUAI

  54. World2Minecraft: Occupancy-Driven Simulated Scenes Construction

    Apr 30, 2026Lechao Zhang, Haoran Xu, Jingyu Gong +33D ReconstructionSynthetic Data Generation for Robotics

    School of Computer Science and Technology, East China Normal University · Shanghai Artificial Intelligence Laboratory · Shanghai Innovation Institute

  55. O3N: Omnidirectional Open-Vocabulary Occupancy Prediction

    Mar 12, 2026Mengfei Duan, Hao Shi, Fei Teng +43D Occupancy Prediction3D Scene Understanding

    School of Artificial Intelligence and Robotics and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China · Ant Group, Hangzhou, China · State Key Laboratory of Extreme Photonics and Instrumentation, Zhejiang University, Hangzhou, China

  56. M2M^2-Occ: Resilient 3D Semantic Occupancy Prediction for Autonomous Driving with Incomplete Camera Inputs

    Mar 10, 2026Kaixin Lin, Kunyu Peng, Di Wen +3Multi-View LearningAutonomous Driving Perception

  57. OccTrack360: 4D Panoptic Occupancy Tracking from Surround-View Fisheye Cameras

    Mar 9, 2026Yongzhi Lin, Kai Luo, Yuanfan Zheng +4Autonomous Driving PerceptionSemantic Occupancy Mapping

    School of Artificial Intelligence and Robotics and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China · Ant Group, Hangzhou, China · State Key Laboratory of Extreme Photonics and Instrumentation, Zhejiang University, Hangzhou, China

  58. Can we Trust Unreliable Voxels? Exploring 3D Semantic Occupancy Prediction under Label Noise

    Mar 6, 2026Wenxin Li, Kunyu Peng, Di Wen +63D Occupancy PredictionLearning with Noisy Labels

    School of Artificial Intelligence and Robotics and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, China · Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Germany · INSAIT, Sofia University “St. Kliment Ohridski”, Bulgaria +1

  59. OccStress: Stress-Testing the 4D Occupancy Forecasting Chain

    Dec 17, 2025Yu Zheng, Jie Hu, Jiaqi Xiong +4Forecasting Benchmarks3D Occupancy Prediction

    Hunan University · ETH Zurich

  60. MobileOcc: A Human-Aware Semantic Occupancy Dataset for Mobile Robots

    Nov 21, 2025Junseo Kim, Guido Dumont, Xinyu Gao +3Mobile RoboticsSemantic Occupancy Mapping

    Delft University of Technology, Mekelweg 5, 2628 CD Delft, Netherlands