4D Occupancy forecasting on nuScenes
42.59mIoU (Average)GenieDrive
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| GenieDriveInput=Occ, FPS=41.38, Params=3.47 M2025.12 | 42.59 | 86.15 | 50.47 | 41.47 | 35.83 | 75.53 | 56.87 | 51.46 | 47.08 | 51.8 | |
| I2-WorldInput=Occ, FPS=37.04, Params=22.71 M2025.12 | 39.73 | 81.22 | 47.62 | 38.58 | 32.98 | 68.3 | 54.29 | 49.43 | 45.69 | 49.8 | |
| COMEInput=Occ, FPS=0.30, Params=692.97 M2025.12 | 34.23 | 83.08 | 42.75 | 32.97 | 26.98 | 77.25 | 50.57 | 43.47 | 38.36 | 44.13 | |
| UniSceneInput=Occ & Box & Map, FPS=1.72, Params=69.47 M2025.12 | 31.76 | 72.9 | 35.37 | 29.59 | 25.08 | 64.1 | 38.34 | 32.7 | 29.09 | 34.84 | |
| OccFM (Teacher)NFE=10, FPS=12.722026.06 | 28.49 | — | — | — | — | — | — | — | — | 37.52 | |
| MFDNFE=1, FPS=25.192026.06 | 27.25 | — | — | — | — | — | — | — | — | 37.07 | |
| DOMEInput=Occ, FPS=6.54, Params=397.55 M2025.12 | 27.1 | 83.08 | 35.11 | 25.89 | 20.29 | 77.25 | 43.99 | 35.36 | 29.74 | 36.36 | |
| Diff-InstructNFE=1, FPS=25.212026.06 | 26.42 | — | — | — | — | — | — | — | — | 36.41 | |
| OccFM (Teacher)NFE=5, FPS=16.752026.06 | 25.18 | — | — | — | — | — | — | — | — | 36.05 | |
| DMD2NFE=1, FPS=25.112026.06 | 24.27 | — | — | — | — | — | — | — | — | 35.84 | |
| SenseFlowNFE=1, FPS=25.092026.06 | 23.91 | — | — | — | — | — | — | — | — | 35.4 | |
| OccSoraInput=Occ, FPS=20.00, Params=174.19 M2025.12 | 23.07 | 66.97 | 32.77 | 22.04 | 14.4 | 68.78 | 41.39 | 33.68 | 29.97 | 35.01 | |
| DFITInput=Occ & Camera2025.12 | 22.71 | — | 31.68 | 21.29 | 15.19 | — | 40.28 | 31.24 | 25.29 | 32.27 | |
| OccTENS-OInput=Occ2025.09 | 22.06 | — | 27.96 | 21.75 | 16.47 | — | 38.73 | 29.5 | 24.86 | 31.03 | |
| AYFNFE=12026.06 | 21.69 | — | — | — | — | — | — | — | — | 32.38 | |
| Occ-LLMInput=Occ & Text, Params=> 7 B2025.12 | 20.99 | — | 24.02 | 21.65 | 17.29 | — | 36.65 | 32.14 | 28.77 | 32.52 | |
| CDNFE=1, FPS=25.082026.06 | 20.7 | — | — | — | — | — | — | — | — | 31.69 | |
| OccLLaMAInput=Occ & Text, Params=> 7 B2025.12 | 19.93 | 75.2 | 25.05 | 19.49 | 15.26 | 63.79 | 34.56 | 28.53 | 24.41 | 29.17 | |
| OccLLaMA-OInput=Occ2025.09 | 19.93 | — | 25.05 | 19.49 | 15.26 | — | 34.56 | 28.53 | 24.41 | 29.17 | |
| OccWorldInput=Occ, FPS=18.00, Params=72.39 M2025.12 | 17.14 | 66.38 | 25.78 | 15.14 | 10.51 | 62.29 | 34.63 | 25.07 | 20.18 | 26.63 | |
| OccWorld-OInput=Occ2025.09 | 17.14 | — | 25.78 | 15.14 | 10.51 | — | 34.63 | 25.07 | 20.18 | 26.63 | |
| OccFM (Teacher)NFE=2, FPS=21.332026.06 | 13.72 | — | — | — | — | — | — | — | — | 29.02 | |
| OccTENS-FInput=Cam2025.09 | 11.79 | — | 17.17 | 10.38 | 7.82 | — | 27.6 | 25.14 | 20.33 | 24.35 | |
| OccLLaMA-FInput=Cam2025.09 | 8.66 | — | 10.34 | 8.66 | 6.98 | — | 25.81 | 23.19 | 19.97 | 22.99 | |
| OccFM (Teacher)NFE=1, FPS=24.922026.06 | 8.15 | — | — | — | — | — | — | — | — | 27.42 | |
| OccWorld-FInput=Cam2025.09 | 6.16 | — | 8.03 | 6.91 | 3.54 | — | 23.62 | 18.13 | 15.22 | 18.99 |