ResearchBenchmarksOccupancy Grid Prediction on nuScenes v1.0 (test val)Follow0.44Soft IoU (All Vehicles)PredNet0.3620.382250.40250.42275Feb 8, 2026Evaluation ResultsMethodMethodLinksSoft IoU (All Vehicles)Soft Recall (All Vehicles)Soft Recall (Dynamic Vehicles)EPE (Dynamic Vehicles)DOGM MSE (Unknown)DOGM MSE (Dynamic)DOGM MSE (Static)PredNetChannels=4Channels=42026.020.440.5140.177—3.130.2970.895PredRNNChannels=6Channels=62026.020.4150.5840.4230.0772.10.2360.782PredRNNChannels=4Channels=42026.020.3970.5990.444—2.070.2350.779Ours2026.020.3650.670.5410.042.930.2320.831