I2-World forecasts 3D occupancy over 3 seconds using an intra/inter tokenizer and reports state-of-the-art results, but the gains come mainly from oracle conditioning on the future ego pose at test time.
Semantickitti: A dataset for semantic scene understanding of lidar sequences
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$I^{2}$-World: Intra-Inter Tokenization for Efficient Dynamic 4D Scene Forecasting
I2-World forecasts 3D occupancy over 3 seconds using an intra/inter tokenizer and reports state-of-the-art results, but the gains come mainly from oracle conditioning on the future ego pose at test time.