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UniOcc: A Unified Benchmark for Occupancy Forecasting and Prediction in Autonomous Driving

arXiv 2503.24381 ↗First posted 31 Mar 2025cs.CV cs.AI cs.LGcited by 27

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Abstract (arXiv)

We introduce UniOcc, a comprehensive, unified benchmark and toolkit for occupancy forecasting (i.e., predicting future occupancies based on historical information) and occupancy prediction (i.e., predicting current-frame occupancy from camera images. UniOcc unifies the data from multiple real-world datasets (i.e., nuScenes, Waymo) and high-fidelity driving simulators (i.e., CARLA, OpenCOOD), providing 2D/3D occupancy labels and annotating innovative per-voxel flows. Unlike existing studies that rely on suboptimal pseudo labels for evaluation, UniOcc incorporates novel evaluation metrics that do not depend on ground-truth labels, enabling robust assessment on additional aspects of occupancy quality. Through extensive experiments on state-of-the-art models, we demonstrate that large-scale, diverse training data and explicit flow information significantly enhance occupancy prediction and forecasting performance. Our data and code are available at https://uniocc.github.io/.

Key facts. Cited by 27 papers in the map (data through 7 Oct 2026). Builds on 59 of its 92 references that are in the map. First posted on arXiv 31 Mar 2025.

Builds on

59 of 92 references.

References · 59

  1. 2017Attention Is All You Needcited by 59,932
  2. 2020Scaling Laws for Neural Language Modelscited by 6,411
  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  4. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  5. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  6. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,213
  7. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 711
  8. 2022BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detectioncited by 568
  9. 2023Tri-Perspective View for Vision-Based 3D Semantic Occupancy Predictioncited by 404
  10. 2023Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Drivingcited by 325
  11. 2023SurroundOcc: Multi-Camera 3D Occupancy Prediction for Autonomous Drivingcited by 310
  12. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
38 more
  1. 2019Human Motion Trajectory Prediction: A Surveycited by 231
  2. 2023OccWorld: Learning a 3D Occupancy World Model for Autonomous Drivingcited by 230
  3. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  4. 2023OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perceptioncited by 218
  5. 2023Scene as Occupancycited by 208
  6. 2023COTR: Compact Occupancy TRansformer for Vision-based 3D Occupancy Predictioncited by 94
  7. 2024OpenEMMA: Open-Source Multimodal Model for End-to-End Autonomous Drivingcited by 93
  8. 2024OccLLaMA: An Occupancy-Language-Action Generative World Model for Autonomous Drivingcited by 82
  9. 2024OccSora: 4D Occupancy Generation Models as World Simulators for Autonomous Drivingcited by 76
  10. 2022Occupancy Flow Fields for Motion Forecasting in Autonomous Drivingcited by 62
  11. 2024DOME: Taming Diffusion Model into High-Fidelity Controllable Occupancy World Modelcited by 58
  12. 2021LOKI: Long Term and Key Intentions for Trajectory Predictioncited by 57
  13. 2024UniTraj: A Unified Framework for Scalable Vehicle Trajectory Predictioncited by 51
  14. 2023Cam4DOcc: Benchmark for Camera-Only 4D Occupancy Forecasting in Autonomous Driving Applicationscited by 50
  15. 2025STAMP: Scalable Task And Model-agnostic Collaborative Perceptioncited by 44
  16. 2022MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environmentscited by 40
  17. 2024UnO: Unsupervised Occupancy Fields for Perception and Forecastingcited by 40
  18. 2024DynamicCity: Large-Scale 4D Occupancy Generation from Dynamic Scenescited by 37
  19. 2021Spectral Temporal Graph Neural Network for Trajectory Predictioncited by 36
  20. 2024AutoTrust: Benchmarking Trustworthiness in Large Vision Language Models for Autonomous Drivingcited by 35
  21. 2024Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehiclescited by 33
  22. 2020Shared Cross-Modal Trajectory Prediction for Autonomous Drivingcited by 31
  23. 2025Can Large Vision Language Models Read Maps Like a Human?cited by 30
  24. 2024Vision-based 3D occupancy prediction in autonomous driving: a review and outlookcited by 29
  25. 2025Re-Align: Aligning Vision Language Models via Retrieval-Augmented Direct Preference Optimizationcited by 29
  26. 2024CMP: Cooperative Motion Prediction with Multi-Agent Communicationcited by 25
  27. 2024Let Occ Flow: Self-Supervised 3D Occupancy Flow Predictioncited by 23
  28. 2024CVT-Occ: Cost Volume Temporal Fusion for 3D Occupancy Predictioncited by 23
  29. 2020Point Set Voting for Partial Point Cloud Analysiscited by 22
  30. 2024Multi-Agent Dynamic Relational Reasoning for Social Robot Navigationcited by 20
  31. 2021Grouptron: Dynamic Multi-Scale Graph Convolutional Networks for Group-Aware Dense Crowd Trajectory Forecastingcited by 19
  32. 2022Dynamics-Aware Spatiotemporal Occupancy Prediction in Urban Environmentscited by 17
  33. 2021Autonomous Driving Strategies at Intersections: Scenarios, State-of-the-Art, and Future Outlookscited by 15
  34. 2022Interaction Modeling with Multiplex Attentioncited by 14
  35. 2023Scene Informer: Anchor-based Occlusion Inference and Trajectory Prediction in Partially Observable Environmentscited by 14
  36. 2023Pedestrian Crossing Action Recognition and Trajectory Prediction with 3D Human Keypointscited by 12
  37. 2024MATRIX: Multi-Agent Trajectory Generation with Diverse Contextscited by 9
  38. 2024CoMamba: Real-time Cooperative Perception Unlocked with State Space Modelscited by 9

50 most cited of 59 All 59 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 14; 2026: 13.

27 papers.

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  1. 20253D and 4D World Modeling: A Surveycited by 64
  2. 2025OmniNWM: Omniscient Driving Navigation World Modelscited by 32
  3. 2025SAFEFLOW: A Principled Protocol for Trustworthy and Transactional Autonomous Agent Systemscited by 23
  4. 2025GS-Occ3D: Scaling Vision-only Occupancy Reconstruction with Gaussian Splattingcited by 11
  5. 2025AGO: Adaptive Grounding for Open World 3D Occupancy Predictioncited by 9
  6. 2026ForecastOcc: Vision-based Semantic Occupancy Forecastingcited by 6
  7. 2025Towards Generalizable Safety in Crowd Navigation via Conformal Uncertainty Handlingcited by 5
  8. 2025OccuFly: A 3D Vision Benchmark for Semantic Scene Completion from the Aerial Perspectivecited by 5
  9. 2026Drive My Way: Preference Alignment of Vision-Language-Action Model for Personalized Drivingcited by 4
  10. 2025SparseWorld-TC: Trajectory-Conditioned Sparse Occupancy World Modelcited by 3
  11. 2026PaQ-DETR: Learning Pattern and Quality-Aware Dynamic Queries for Object Detectioncited by 3
  12. 2025RDD: Retrieval-Based Demonstration Decomposer for Planner Alignment in Long-Horizon Taskscited by 2
15 more
  1. 2025SafeCoop: Unravelling Full Stack Safety in Agentic Collaborative Drivingcited by 2
  2. 2025Dual-R-DETR: Resolving Query Competition with Pairwise Routing in Transformer Decoderscited by 2
  3. 2026Priority-Aware Multi-Robot Coverage Path Planningcited by 2
  4. 2026DynFlowDrive: Flow-Based Dynamic World Modeling for Autonomous Drivingcited by 2
  5. 2026InfraOcc: An Infrastructure Occupancy Benchmark with Static-to-Dynamic Reasoningcited by 1
  6. 2025Dataset Safety in Autonomous Driving: Requirements, Risks, and Assurancecited by 0
  7. 2025NexusFlow: Unifying Disparate Tasks under Partial Supervision via Invertible Flow Networkscited by 0
  8. 2025OccStress: Stress-Testing the 4D Occupancy Forecasting Chaincited by 0
  9. 2026Rebenchmarking Unsupervised Monocular 3D Occupancy Predictioncited by 0
  10. 2026Can we Trust Unreliable Voxels? Exploring 3D Semantic Occupancy Prediction under Label Noisecited by 0
  11. 2026M2-Occ: Resilient 3D Semantic Occupancy Prediction for Autonomous Driving with Incomplete Camera Inputscited by 0
  12. 2026OccSim: Multi-kilometer Simulation with Long-horizon Occupancy World Modelscited by 0
  13. 2026OccDirector: Language-Guided Behavior and Interaction Generation in 4D Occupancy Spacecited by 0
  14. 2026Streaming Gaussian Encoding for 4D Panoptic Occupancy Trackingcited by 0
  15. 2026RoadOcc Learns When to Persist, Transport, or Refresh Memory for Roadside Occupancy Predictioncited by 0