mlsanityData to 7 Oct 2026

Occupancy Anticipation for Efficient Exploration and Navigation

arXiv 2008.09285 ↗First posted 21 Aug 2020cs.CVcited by 104

Not on the map. Why?

Abstract (arXiv)

State-of-the-art navigation methods leverage a spatial memory to generalize to new environments, but their occupancy maps are limited to capturing the geometric structures directly observed by the agent. We propose occupancy anticipation, where the agent uses its egocentric RGB-D observations to infer the occupancy state beyond the visible regions. In doing so, the agent builds its spatial awareness more rapidly, which facilitates efficient exploration and navigation in 3D environments. By exploiting context in both the egocentric views and top-down maps our model successfully anticipates a broader map of the environment, with performance significantly better than strong baselines. Furthermore, when deployed for the sequential decision-making tasks of exploration and navigation, our model outperforms state-of-the-art methods on the Gibson and Matterport3D datasets. Our approach is the winning entry in the 2020 Habitat PointNav Challenge. Project page: http://vision.cs.utexas.edu/projects/occupancy_anticipation/

Key facts. Cited by 104 papers in the map (data through 7 Oct 2026). First posted on arXiv 21 Aug 2020.

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Citing papers per year: 2021: 26; 2022: 29; 2023: 14; 2024: 12; 2025: 15; 2026: 8.

104 papers.

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  1. 2021Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AIcited by 579
  2. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 501
  3. 2021A Survey of Embodied AI: From Simulators to Research Taskscited by 256
  4. 2022PONI: Potential Functions for ObjectGoal Navigation with Interaction-free Learningcited by 149
  5. 2022Navigating to Objects in the Real Worldcited by 104
  6. 2021Visual Room Rearrangementcited by 101
  7. 2024GOAT-Bench: A Benchmark for Multi-Modal Lifelong Navigationcited by 93
  8. 2022Cross-modal Map Learning for Vision and Language Navigationcited by 91
  9. 2022Weakly-Supervised Multi-Granularity Map Learning for Vision-and-Language Navigationcited by 86
  10. 2022Zero Experience Required: Plug & Play Modular Transfer Learning for Semantic Visual Navigationcited by 66
  11. 2021The ThreeDWorld Transport Challenge: A Visually Guided Task-and-Motion Planning Benchmark for Physically Realistic Embodied AIcited by 64
  12. 2021No RL, No Simulation: Learning to Navigate without Navigatingcited by 63
38 more
  1. 2021RobustNav: Towards Benchmarking Robustness in Embodied Navigationcited by 52
  2. 2023Renderable Neural Radiance Map for Visual Navigationcited by 51
  3. 2021Learning to Map for Active Semantic Goal Navigationcited by 47
  4. 2022Retrospectives on the Embodied AI Workshopcited by 46
  5. 2021Move2Hear: Active Audio-Visual Source Separationcited by 35
  6. 2021Differentiable SLAM-net: Learning Particle SLAM for Visual Navigationcited by 34
  7. 2022Is Mapping Necessary for Realistic PointGoal Navigation?cited by 32
  8. 2022Uncertainty-driven Planner for Exploration and Navigationcited by 31
  9. 2022TIDEE: Tidying Up Novel Rooms using Visuo-Semantic Commonsense Priorscited by 30
  10. 2023Active Neural Mappingcited by 30
  11. 2021The Surprising Effectiveness of Visual Odometry Techniques for Embodied PointGoal Navigationcited by 27
  12. 2024NARUTO: Neural Active Reconstruction from Uncertain Target Observationscited by 27
  13. 2024Neural Visibility Field for Uncertainty-Driven Active Mappingcited by 25
  14. 2021A Survey on Human-aware Robot Navigationcited by 23
  15. 2022EgoEnv: Human-centric environment representations from egocentric videocited by 22
  16. 2022PEANUT: Predicting and Navigating to Unseen Targetscited by 22
  17. 2023Measuring Acoustics with Collaborative Multiple Agentscited by 21
  18. 2021GridToPix: Training Embodied Agents with Minimal Supervisioncited by 20
  19. 2022Learning Active Camera for Multi-Object Navigationcited by 20
  20. 2021Learning Efficient Multi-Agent Cooperative Visual Explorationcited by 19
  21. 2025ActiveGAMER: Active GAussian Mapping through Efficient Renderingcited by 19
  22. 2022Ask4Help: Learning to Leverage an Expert for Embodied Taskscited by 18
  23. 2022Pay Self-Attention to Audio-Visual Navigationcited by 17
  24. 2024OVER-NAV: Elevating Iterative Vision-and-Language Navigation with Open-Vocabulary Detection and StructurEd Representationcited by 17
  25. 2025ORV: 4D Occupancy-centric Robot Video Generationcited by 16
  26. 2022Navigating to Objects in Unseen Environments by Distance Predictioncited by 15
  27. 2025AutoOcc: Automatic Open-Ended Semantic Occupancy Annotation via Vision-Language Guided Gaussian Splattingcited by 14
  28. 2023A Domain-Agnostic Approach for Characterization of Lifelong Learning Systemscited by 13
  29. 2025NextBestPath: Efficient 3D Mapping of Unseen Environmentscited by 13
  30. 2021Environment Predictive Coding for Embodied Agentscited by 12
  31. 2021MaAST: Map Attention with Semantic Transformersfor Efficient Visual Navigationcited by 11
  32. 2023MOPA: Modular Object Navigation with PointGoal Agentscited by 11
  33. 2025GLEAM: Learning Generalizable Exploration Policy for Active Mapping in Complex 3D Indoor Scenescited by 10
  34. 2024MapEx: Indoor Structure Exploration with Probabilistic Information Gain from Global Map Predictionscited by 9
  35. 2021Out of the Box: Embodied Navigation in the Real Worldcited by 8
  36. 2021Focus on Impact: Indoor Exploration with Intrinsic Motivationcited by 8
  37. 2022Multi-Robot Active Mapping via Neural Bipartite Graph Matchingcited by 8
  38. 2022What do navigation agents learn about their environment?cited by 8

50 most cited of 104 All 104 (JSON)