# LOMA: Language-assisted Semantic Occupancy Network via Triplane Mamba

arXiv: https://arxiv.org/abs/2412.08388 · HTML: https://mlsanity.com/paper/2412.08388/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- Placed in Point clouds, detection and remote sensing, one of 10 directions in State-space sequence models (S4, Mamba).
- Builds on 7 of its 43 references that are in the map.
- First posted on arXiv 11 Dec 2024.

## Placed in

- State-space sequence models (S4, Mamba) / [Point clouds, detection and remote sensing](https://mlsanity.com/ssm/point-clouds-detection-and-remote-sensing/)

## Builds on (most cited first, 7 of 7)

- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [Efficiently Modeling Long Sequences with Structured State Spaces](https://mlsanity.com/paper/2111.00396/) (2021)
- [Vision Mamba: Efficient Visual Representation Learning with Bidirectional State Space Model](https://mlsanity.com/paper/2401.09417/) (2024)
- [Simplified State Space Layers for Sequence Modeling](https://mlsanity.com/paper/2208.04933/) (2022)
- [Hungry Hungry Hippos: Towards Language Modeling with State Space Models](https://mlsanity.com/paper/2212.14052/) (2022)
- [SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Driving](https://mlsanity.com/paper/2306.09001/) (2023)
- [MonoOcc: Digging into Monocular Semantic Occupancy Prediction](https://mlsanity.com/paper/2403.08766/) (2024)

## Built on by (most cited first, 8 of 8)

- [Event-aided Semantic Scene Completion](https://mlsanity.com/paper/2502.02334/) (2025)
- [Vision-based 3D Semantic Scene Completion via Capture Dynamic Representations](https://mlsanity.com/paper/2503.06222/) (2025)
- [Out-of-Distribution Semantic Occupancy Prediction](https://mlsanity.com/paper/2506.21185/) (2025)
- [Unleashing Semantic and Geometric Priors for 3D Scene Completion](https://mlsanity.com/paper/2508.13601/) (2025)
- [MamTiff-CAD: Multi-Scale Latent Diffusion with Mamba+ for Complex Parametric Sequence](https://mlsanity.com/paper/2511.17647/) (2025)
- [Towards 3D Object-Centric Feature Learning for Semantic Scene Completion](https://mlsanity.com/paper/2511.13031/) (2025)
- [HyGE-Occ: Hybrid View-Transformation with 3D Gaussian and Edge Priors for 3D Panoptic Occupancy Prediction](https://mlsanity.com/paper/2512.19871/) (2025)
- [Sparsity-Aware Voxel Attention and Foreground Modulation for 3D Semantic Scene Completion](https://mlsanity.com/paper/2604.05780/) (2026)

## Abstract (arXiv)

Vision-based 3D occupancy prediction has become a popular research task due to its versatility and affordability. Nowadays, conventional methods usually project the image-based vision features to 3D space and learn the geometric information through the attention mechanism, enabling the 3D semantic occupancy prediction. However, these works usually face two main challenges: 1) Limited geometric information. Due to the lack of geometric information in the image itself, it is challenging to directly predict 3D space information, especially in large-scale outdoor scenes. 2) Local restricted interaction. Due to the quadratic complexity of the attention mechanism, they often use modified local attention to fuse features, resulting in a restricted fusion. To address these problems, in this paper, we propose a language-assisted 3D semantic occupancy prediction network, named LOMA. In the proposed vision-language framework, we first introduce a VL-aware Scene Generator (VSG) module to generate the 3D language feature of the scene. By leveraging the vision-language model, this module provides implicit geometric knowledge and explicit semantic information from the language. Furthermore, we present a Tri-plane Fusion Mamba (TFM) block to efficiently fuse the 3D language feature and 3D vision feature. The proposed module not only fuses the two features with global modeling but also avoids too much computation costs. Experiments on the SemanticKITTI and SSCBench-KITTI360 datasets show that our algorithm achieves new state-of-the-art performances in both geometric and semantic completion tasks. Our code will be open soon.