A sparse transformer predicts multi-frame 3D occupancy from images without BEV or VAE tokenization and reports SOTA results on nuScenes for 1-3s forecasting under arbitrary trajectories.
Occprophet: Pushing efficiency frontier of camera-only 4d occupancy forecasting with observer-forecaster-refiner framework.arXiv preprint arXiv:2502.15180, 2025
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SparseWorld-TC: Trajectory-Conditioned Sparse Occupancy World Model
A sparse transformer predicts multi-frame 3D occupancy from images without BEV or VAE tokenization and reports SOTA results on nuScenes for 1-3s forecasting under arbitrary trajectories.