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Occupancy Prediction research benchmarks · SOTA2 Research

Occupancy Prediction

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

Occ3D v1.0 (test)

48.6RayIoU (Default)

24

Feb 26, 2026

EmbodiedOcc-ScanNet 1.0 (test)

53.3Overall IoU

10

May 1, 2026

SemanticKITTI (out-of-domain)

45.64Precision

9

Mar 25, 2026

94Occupancy Acc (Scene)

7

May 13, 2026

35.49mIoU

7

Mar 31, 2026

SemanticKITTI in-domain

35.25Precision

6

Mar 25, 2026

40.9IoU (full)

5

Feb 26, 2026

nuScenes-C noisy misalignment (val)

GraphBEV++ (LSS)

66.9IoU (Normal)

4

Jun 16, 2026

nuScenes clean (val)

GraphBEV++ (LSS)

72.6IoU (Normalized)

4

Jun 16, 2026

80.9IoU-n

4

Mar 10, 2026

nuScenes Rainy and Nighttime scenes v1.0 (test)

27Score 0911 (Rainy)

3

Mar 19, 2026

Popular datasets

nuScenes SemanticKITTI KITTI-360 Occ3D nuScenes-C

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