3D Semantic Occupancy Prediction

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12 papers in the last four weeks, up 300% on the four weeks before. 0.1% of all new papers.

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  1. MEGA: Object-Level Mesh Extraction from 3D Gaussian Splatting via Spatial Visual Distillation

    Oct 1, 2026Liwei Liao, Yingkui Zhang, Qianqian Tong +1Dynamic 3D Gaussian Splatting3D Semantic Occupancy Prediction

    Peking University · Pengcheng Laboratory · Beihang University

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

    Sep 30, 2026Jinglong Wang, Yunjie Wang, Zhiyang Zhang +43D Semantic Occupancy PredictionEmbodied

    Beihang University · Beijing Academy of Artificial Intelligence · XYZ Embodied AI +3

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

    Sep 29, 2026Tianyou Yu, Pengfei Zhao, Chao Xu3D Semantic Occupancy PredictionRobot Navigation

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

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

    Sep 25, 2026Quinlan Sykora, Sourav Biswas, Christopher Diehl +33D Semantic Occupancy Prediction3D Object Detection

    Waabi · University of Toronto

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

    Sep 24, 2026Nitya Nanvani, Andras Palffy, Holger Caesar3D Semantic Occupancy PredictionOpen-Vocabulary 3D Segmentation

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

  6. Targeted Review for AI-Assisted Biodiversity Surveys: Active Continuous-Score Occupancy Modeling

    Sep 22, 2026Timm Haucke, Lauren Harrell, Justin Kay +2Biodiversity MonitoringOccupancy

    MIT · Google Research · The Institute for Bird Populations

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

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

    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. Pose-aware Legged Robot Semantic Exploration with Omnidirectional Perception in Confined Unknown Environments

    Sep 16, 2026Xiaoyang Zhan, Shiyu Chen, Kenji ShimadaLegged Robots3D Semantic Occupancy Prediction

    Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213 USA

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

    Sep 15, 2026Shizhang Fanga, Wanling Yea, Qi Zheng3D Semantic Occupancy PredictionDense Prediction

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

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

    Sep 8, 2026Jiahui Zhang, Bonian Han, Gongbo Liang +13D Semantic Occupancy PredictionOccupancy

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

  11. Spheriverse: 3D Scene Understanding from Spherical Observations in the Wild

    Sep 8, 2026Fei Teng, Sheng Wu, Mengfei Duan +73D Semantic 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, China · School of Automation and Electrical Engineering, Zhejiang University of Science and Technology, China · Ant Group, China +1

  12. CrowdTraj: A Benchmark for Dense Crowd Trajectory Prediction in Realistic Crowded Environments

    Sep 7, 2026Antonius Bima Murti Wijaya, Paul Henderson, Marwa MahmoudPedestrian Trajectory Prediction3D Semantic Occupancy Prediction

    School of Computing Science University of Glasgow University Avenue G12 8QQ, Glasgow, United Kingdom

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

    Sep 4, 2026Chi Zhang, Qi Song, Feifei Li +23D Semantic Occupancy PredictionOccupancy

    Tsinghua University · Shenzhen Polytechnic University

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

    Aug 31, 2026Lei Yang, Xiaokai Bai, Boqi Li +83D Semantic Occupancy PredictionOccupancy

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

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

    Aug 14, 2026Binling Huang, Nianjin Ye, Xi Yang +6Diffusion Planning3D Semantic Occupancy Prediction

    Changhong Intelligent Robot University of Electronic Science and Technology of China

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

    Aug 9, 2026Junjie Liu, Wanshui Gan, Zitong Dai +63D Semantic Occupancy Prediction3D Scene Understanding

    Pengcheng Laboratory · SUSTech · Shanghai Artificial Intelligence Laboratory +1

  17. SCOPE: Field-of-View-Aware Path Planning in Unknown 3D Environments via Safety-Volume Certification

    Aug 5, 2026Junbin Yuan, Muqing Cao, Yunwoo Lee +2Path Planning3D Semantic Occupancy Prediction

    Department of Mechanical Engineering at Carnegie Mellon University, Pittsburgh, PA 15213 USA · Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA 15213 USA · Department of Mechanical Engineering, Brigham Young University, Provo, UT 84602 USA

  18. CorrelationFlow: A Training-Free Geometric Approach for LiDAR Scene Flow Estimation

    Jul 31, 2026Minh-Quan Dao, Yancong Lin, Julie Stephany Berrio Perez +1Optical FlowLidar

    Nantes Université · University of Nottingham · University of Queensland +1

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

    Jul 31, 2026Qi Zheng, Zihuang Su, Xiao Pan3D Semantic Occupancy PredictionOpen-Vocabulary 3D Segmentation

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

  20. Room-Mediated Co-occurrence for Zero-Shot Object-Centric Semantic Navigation via Frontier Scoring

    Jul 28, 2026Adam Scicluna, Gavin Paul, Alen AlempijevicVision-Language NavigationObject Goal Navigation

    Robotics Institute, Faculty of Engineering and Information Technology, University of Technology Sydney (UTS), Sydney, Australia

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

    Jul 27, 2026Qi Zhang, Xinquan Yu, Kaiyi Zhang +13D Semantic Occupancy PredictionOccupancy

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

  22. Learning Adaptive Semantic Gaussian Allocation for 3D Occupancy

    Jul 24, 2026Kanglin Ning, Yiran Zhao, Wenrui Li +43D Semantic Occupancy Prediction3D Gaussian

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

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

    Jul 22, 2026Xinzhuo Li, Xianghui Pan, Jiayuan Du +43D Semantic Occupancy Prediction3D Gaussian

    Tongji University, Shanghai, China

  24. From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVs

    Jul 21, 2026Jason Stanley, Zhirui Dai, Qihao Qian +6Motion Planning3D Semantic Occupancy Prediction

    UC San Diego, La Jolla, USA · Electrical and Computer Engineering Department, UC San Diego, 9500 Gilman Dr, La Jolla, 92093, CA, USA. · Shield AI, San Diego, USA +1

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

    Jul 20, 2026Junhong Lin, Xianda Guo, Kangli Wang +43D Semantic Occupancy Prediction3D Gaussian

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

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

    Jul 20, 2026Junho Kim, Seongwon Lee3D Semantic Occupancy PredictionOccupancy

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

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

    Jul 15, 2026Changqing Zhou, Yueru Luo, Yulan Guo +33D Semantic Occupancy PredictionOccupancy

    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

  28. 3D Scene Graph Prediction: Generating Hierarchical Models from Partially Observed Environments

    Jul 12, 2026Siyi H, Jared Strade, Hyungtae Lim +13D Scene Graphs3D Semantic Occupancy Prediction

    Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA 02139, USA. · Department of Electrical and Computer Engineering, Oakland University, Rochester, MI 48309, USA.

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

    Jul 6, 2026Hu Zhu, Bohan Li, Xianda Guo +83D Semantic Occupancy PredictionSemantic Mapping

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

  30. ECO: Incremental Ego-Centric Octree Update for Point Streams

    Jul 6, 2026Jaemin Yu, Seongyoon Jeong, Kang-Wook Chon +1Octree3D Semantic Occupancy Prediction

    Korea University of Technology and Education (KOREATECH), Cheonan, Republic of Korea

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

    Jul 6, 2026Pin Tang, Zhongdao Wang, Guoqing Wang +23D Semantic Occupancy PredictionVoxel

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

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

    Jul 4, 2026Dubing Chen, Huan Zheng, Tianyi Yan +53D Semantic Occupancy PredictionDense Prediction

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

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

    Jul 2, 2026Feng Li, Chaokun Zhang, Gong Chen3D Semantic Occupancy PredictionCollaborative Perception

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

  34. Semantic Occupancy Prediction with Dual Range-Voxel Representation

    Jun 30, 2026Sitao Chen, Zhuangwei Zhuang, Hui Luo +33D Semantic Occupancy PredictionVoxel

    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

  35. InfiniVerse: Occupancy Guided Unbounded Scene Generation for Autonomous Driving

    Jun 30, 2026Xiaoyu Ye, Leheng Li, Xinyu Ji +8Indoor Scene GenerationAutonomous Driving

    The Chinese University of Hong Kong, Shenzhen · The Hong Kong University of Science and Technolody(Guangzhou) · Nanyang Technological University +2

  36. Streaming Gaussian Encoding for 4D Panoptic Occupancy Tracking

    Jun 29, 2026Maximilian Luz, Thomas Nürnberg, Yakov Miron +13D Semantic Occupancy Prediction4D Reconstruction

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

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

    Jun 29, 2026Junjie Cheng, Ruiqi Song, Ye Wu +3Causality-Aware End-To-End Autonomous DrivingDrives

    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

  38. OSOR: One-Step Diffusion Inpainting for Effect-Aware Object Removal

    Jun 26, 2026Qinming Zhou, Chenxi Sun, Deyang Kong +6Video Object RemovalDiverse Occlusion-And-Revelation Scenarios

    Shanghai Jiao Tong University · Tsinghua University · University of Electronic Science and Technology of China +3

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

    Jun 26, 2026Kyumin Hwang, Wonhyeok Choi, Jaeyeul Kim +33D Semantic Occupancy PredictionOccupancy

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

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

    Jun 22, 2026Xianda Guo, Bohao Zhang, Chenwei Huang +63D Semantic Occupancy PredictionLarge-Scale Robot Demonstration Datasets

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

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

    Jun 17, 2026Yukai Ma, Joe Lin, Liu Liu +43D Semantic 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 +23D Semantic Occupancy PredictionSemantic Geometry

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

  43. Occupancy-Grounded Room Segmentation for Hierarchical 3D Scene Graphs

    Jun 11, 2026Carlos Cueto Zumaya, Iacopo Catalano, Jorge Peña-Queralta +13D Scene Graphs3D Semantic Occupancy Prediction

    University of Turku, 20014 Turku, Finland · Centre for Artificial Intelligence, Zürich University of Applied Sciences, Winterthur, Switzerland

  44. EditSSC: Toward Editable Semantic Occupancy Scenes with Unconditional Diffusion Models

    Jun 8, 2026Fatima Balde, Raoul de Charette, Alexandre Boulch3D Scene Generation3D Scene Understanding

    Inria

  45. SCOUT: Semantic scene COverage via Uncertainty-guided Traversal

    Jun 4, 2026Junyu Mao, Sara Ayoubi, Vishnu D. Sharma +23D Scene Graphs3D Semantic Occupancy Prediction

    Nokia Bell Labs, France. · Nokia Bell Labs, Murray Hill, NJ, USA.

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

    Jun 3, 2026Xinhong Zhang, Runqing Wang, Yunfan Ren +6QuadrotorAerial Vision-Language Navigation

    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

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

    Jun 2, 2026Ye Wu, Ruiqi Song, Baiyong Ding +33D Semantic Occupancy Prediction3D Object Detection

    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

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

    Jun 1, 2026Yixuan Yang, Sha Zhang, Rui Li +12Robotic Perception3D Semantic Occupancy Prediction

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

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

    May 30, 2026Jie Gao, Jie Ma, Kaihui Lin +4Unmanned Aerial Vehicles3D Semantic Occupancy Prediction

    1Xiamen University · 2Jiangxi Academy of Sciences

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

    May 27, 2026Yang Gao, Wuyang Li, Po-Chien Luan +13D Semantic Occupancy PredictionDeformable Cnn

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

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

    May 24, 2026Ruoyu Wang, Yong Liu, Sheng Tao +23D Semantic Occupancy PredictionVoxel

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

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

    May 17, 2026Cheng Chen, Hao Huang, Saurabh Bagchi3D Semantic Occupancy PredictionOccupancy

    Purdue University · New York University Abu Dhabi

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

    May 16, 2026Xun Chen, Tianchen Deng, Rui Wang +53D Semantic Occupancy Prediction3D Generation

    Nanyang Technological University · Shanghai Jiao Tong University · ETH Zurich

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

    May 15, 2026A. Enes Doruk, Abdelaziz Hussein, Hasan F. Ates3D Semantic Occupancy PredictionLight Detection And Ranging Data

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

  55. SOCC-ICP: Semantics-Assisted Odometry based on Occupancy Grids and ICP

    May 14, 2026Johannes Scherer, Sebastian Hirt, Henri MeeßRobust Lidar-Inertial Odometry3D Semantic Occupancy Prediction

    Fraunhofer IVI, 85049 Ingolstadt, Germany · Technische Hochschule Ingolstadt, 85049 Ingolstadt, Germany · Ancud IT-Beratung GmbH, 90478 Nürnberg, Germany

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

    May 6, 2026Yuan Wu, Zhiqiang Yan, Jiawei Lian +23D Semantic Occupancy PredictionLidar

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

  57. Global Optimality for Constrained Exploration via Penalty Regularization

    Apr 30, 2026Florian Wolf, Ilyas Fatkhullin, Niao HePolicy GradientStochastic Exploration

    The Computing & Mathematical Sciences Department, California Institute of Technology, Pasadena, CA. · Department of Computer Science, ETH Zurich, Switzerland. · 3ETH AI Center, ETH Zurich, Switzerland.

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

    Apr 30, 2026Zeyu Jiang, Changqing Zhou, Xingxing Zuo +13D Semantic Occupancy PredictionOccupancy

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

  59. World2Minecraft: Occupancy-Driven Simulated Scenes Construction

    Apr 30, 2026Lechao Zhang, Haoran Xu, Jingyu Gong +33D Semantic Occupancy PredictionEmbodied Artificial Intelligence

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

  60. O3N: Omnidirectional Open-Vocabulary Occupancy Prediction

    Mar 12, 2026Mengfei Duan, Hao Shi, Fei Teng +43D Semantic 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