ResearchBenchmarksOccupancy Grid Prediction on Woven Planet (WP) (test val)Follow49.3Soft IoU (All Vehicles)PredNet40.4642.75545.0547.345Feb 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=42026.0249.356.438.2—0.790.8841.11PredRNNChannels=6Channels=62026.0246.663.955.70.0850.7750.5230.959PredRNNChannels=4Channels=42026.0244.659.450.3—0.8220.5120.98Ours2026.0240.865.557.80.031.740.5621.12