FreeOcc enables training-free open-vocabulary 3D occupancy prediction from RGB-D sequences by combining SLAM, dense Gaussian maps, off-the-shelf vision-language models, and probabilistic projection, achieving over 2x gains on benchmarks and zero-shot transfer to novel scenes.
What is the best 3d scene representation for robotics? from geometric to foundation models, 2026
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FreeOcc: Training-Free Embodied Open-Vocabulary Occupancy Prediction
FreeOcc enables training-free open-vocabulary 3D occupancy prediction from RGB-D sequences by combining SLAM, dense Gaussian maps, off-the-shelf vision-language models, and probabilistic projection, achieving over 2x gains on benchmarks and zero-shot transfer to novel scenes.