Occupancy Prediction on EmbodiedOcc-ScanNet 1.0 (test)
53.3Overall IoURoboOcc
Evaluation Results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RoboOccLearning Paradigm=Fully supervised learning, Annotation (Geo.)=Occupancy, Annotation (Sem.)=✓2026.04 | 53.3 | 21.94 | 44.57 | 39.54 | 38.48 | 51.28 | 57.04 | 63.09 | 36.7 | 43.05 | 54.42 | 34.38 | 44.05 | |
| EmbodiedOcc++Learning Paradigm=Fully supervised learning, Annotation (Geo.)=Occupancy, Annotation (Sem.)=✓2026.04 | 52.2 | 27.9 | 43.9 | 38.7 | 40.6 | 49 | 57.9 | 59.2 | 36.8 | 37.8 | 53.5 | 34.1 | 43.6 | |
| EmbodiedOccLearning Paradigm=Fully supervised learning, Annotation (Geo.)=Occupancy, Annotation (Sem.)=✓2026.04 | 51.52 | 22.7 | 44.6 | 37.4 | 38 | 50.1 | 56.7 | 59.7 | 35.4 | 38.4 | 52 | 32.9 | 42.53 | |
| GaussianFormerLearning Paradigm=Fully supervised learning, Annotation (Geo.)=Occupancy, Annotation (Sem.)=✓2026.04 | 38.02 | 17 | 33.6 | 21.5 | 21.7 | 29.4 | 47.8 | 37.1 | 24.3 | 15.5 | 36.2 | 16.8 | 27.36 | |
| SurroundOccLearning Paradigm=Fully supervised learning, Annotation (Geo.)=Occupancy, Annotation (Sem.)=✓2026.04 | 37.04 | 12.7 | 31.8 | 22.5 | 22 | 29.9 | 44.7 | 36.5 | 24.6 | 11.5 | 34.4 | 18.2 | 26.27 | |
| TPVFormerLearning Paradigm=Fully supervised learning, Annotation (Geo.)=Occupancy, Annotation (Sem.)=✓2026.04 | 35.88 | 1.62 | 30.54 | 12.03 | 13.22 | 35.47 | 51.39 | 49.79 | 25.63 | 3.6 | 43.15 | 16.23 | 25.7 | |
| FreeOcc (rgbd)Learning Paradigm=Training-free, Annotation (Geo.)=✗, Annotation (Sem.)=✗, Modality=rgbd2026.04 | 34.4 | 6.56 | 26.46 | 21.69 | 15.15 | 21.02 | 22.09 | 23.61 | 15.87 | 7.48 | 8.28 | 6 | 15.84 | |
| FreeOcc (mono)Learning Paradigm=Training-free, Annotation (Geo.)=✗, Annotation (Sem.)=✗, Modality=monocular2026.04 | 31.29 | 3.16 | 23.49 | 16.14 | 13.11 | 19.66 | 21.64 | 23.43 | 13.76 | 4.01 | 8.04 | 5.98 | 13.86 | |
| GaussTRLearning Paradigm=Self-supervised learning, Annotation (Geo.)=Poses, Annotation (Sem.)=✗2026.04 | 15.63 | 1.2 | 7.78 | 4.29 | 2.67 | 4.52 | 11.27 | 10.95 | 5.31 | 0.9 | 4.21 | 1.34 | 4.95 | |
| GaussianOccLearning Paradigm=Self-supervised learning, Annotation (Geo.)=Poses, Annotation (Sem.)=✗2026.04 | 10.17 | 3.81 | 5.09 | 2.53 | 2.56 | 3.84 | 10.26 | 9.9 | 5.37 | 0.5 | 2.33 | 1.19 | 4.34 |