Indoor Occupancy Prediction on Occ-ScanNet (val)

59.5IoU (Overall)LegoOcc

Evaluation results

Method
LegoOcc2026.02	59.5	21.05	17.81	41.65	28.52	18.91	19.32	33.05	34.92	19.16	5.36	5.88	6.94	—
RoboOcc2026.02	56.48	47.76	45.36	53.49	44.35	34.81	43.38	56.93	63.35	46.35	36.12	55.48	44.78	—
EmbodiedOcc++2026.02	54.9	46.2	36.4	53.1	41.8	34.4	42.9	57.3	64.1	45.2	34.8	54.2	44.1	—
EmbodiedOcc2026.02	53.95	45.48	40.9	50.8	41.9	33	41.2	55.2	61.9	43.8	35.4	53.5	42.9	6.5
EmbodiedOcc2026.02	53.55	45.15	39.6	50.4	41.4	31.7	40.9	55	61.4	44	36.1	53.9	42.2	—
BePo2025.06	52.73	44.91	41.32	50.29	41.83	31.81	40.37	54.65	60.71	43.76	34.27	53.33	41.72	—
DiScene2026.02	51.99	47.17	45.21	50.63	40.38	36.73	42.28	59.68	62.04	45.6	41.17	52.42	42.72	10.5
OPUS2026.02	45.62	38.96	39.06	45.04	34.97	28.63	35.92	49.27	54.39	37.93	23.93	45.04	34.42	10.5
DiScene2026.02	43.68	39.06	29.66	45.28	28.7	28.73	35.9	53.13	56.89	39.9	30.07	44.97	36.38	23.2
Surroundocc2026.02	42.52	30.83	18.9	49.3	24.8	18	26.8	42	44.1	32.9	18.6	36.8	26.9	—
ISO2026.02	42.16	28.71	19.88	41.88	22.37	16.98	29.09	42.43	42	29.6	10.62	36.36	24.61	3.5
ISO2025.06	42.16	28.71	19.88	41.88	22.37	16.98	29.09	42.43	42	29.6	10.62	36.36	24.61	—
ISO2026.02	42.16	28.71	19.88	41.88	22.37	16.98	29.09	42.43	42	29.6	10.62	36.36	24.61	—
MonoScene2026.02	41.6	24.62	15.17	44.71	22.41	12.55	26.11	27.03	35.91	28.32	6.57	32.16	19.84	8
MonoScene2025.06	41.6	24.62	15.17	44.71	22.41	12.55	26.11	27.03	35.91	28.32	6.57	32.16	19.84	—
MonoScene2026.02	41.6	24.62	15.17	44.71	22.41	12.55	26.11	27.03	35.91	28.32	6.57	32.16	19.84	—
GaussianFormer2026.02	40.91	29.93	20.7	42	23.4	17.4	27	44.3	44.8	32.7	15.3	36.7	25	—
LOcc2026.02	36.7	9.25	0	24.4	17.37	1.83	9.31	10.73	23.42	11.29	0.01	3.15	0.19	—
OPUS2026.02	35.58	28.7	15.37	37.75	20.6	18.64	26.43	44.55	45.63	30.79	14.63	35.8	25.49	23.2
POP-3D2026.02	35.32	5.96	0	23.89	16.59	0.01	4.62	8.65	2.01	7.61	0	2.14	0.08	—
TPVFormer2026.02	33.39	24.94	6.96	32.97	14.41	9.1	24.01	41.49	45.44	28.61	10.66	35.37	25.31	—