{"id":"https://openalex.org/W7116048403","doi":"https://doi.org/10.48550/arxiv.2512.15621","title":"OccSTeP: Benchmarking 4D Occupancy Spatio-Temporal Persistence","display_name":"OccSTeP: Benchmarking 4D Occupancy Spatio-Temporal Persistence","publication_year":2025,"publication_date":"2025-12-17","ids":{"openalex":"https://openalex.org/W7116048403","doi":"https://doi.org/10.48550/arxiv.2512.15621"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2512.15621","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.15621","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2512.15621","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Zheng, Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zheng, Yu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Hu, Jie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Jie","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Yang, Kailun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Kailun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Zhang, Jiaming","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Jiaming","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.3330000042915344,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.3330000042915344,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.19259999692440033,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.10760000348091125,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.743399977684021},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.7063999772071838},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6953999996185303},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6176000237464905},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6115000247955322},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4453999996185303},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.42910000681877136},{"id":"https://openalex.org/keywords/source-code","display_name":"Source code","score":0.37380000948905945}],"concepts":[{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.743399977684021},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7365999817848206},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.7063999772071838},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6953999996185303},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6176000237464905},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6115000247955322},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4819999933242798},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4453999996185303},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.42910000681877136},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.40369999408721924},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.37380000948905945},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.36649999022483826},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.35499998927116394},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.34700000286102295},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3465999960899353},{"id":"https://openalex.org/C64754055","wikidata":"https://www.wikidata.org/wiki/Q7574053","display_name":"Spatial contextual awareness","level":2,"score":0.3343000113964081},{"id":"https://openalex.org/C888380","wikidata":"https://www.wikidata.org/wiki/Q2427787","display_name":"Persistent data structure","level":2,"score":0.32829999923706055},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.31290000677108765},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.31209999322891235},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.2971000075340271},{"id":"https://openalex.org/C2781009140","wikidata":"https://www.wikidata.org/wiki/Q7170389","display_name":"Persistence (discontinuity)","level":2,"score":0.28540000319480896},{"id":"https://openalex.org/C9357733","wikidata":"https://www.wikidata.org/wiki/Q6878417","display_name":"Missing data","level":2,"score":0.2808000147342682},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.2727000117301941},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2678999900817871}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2512.15621","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.15621","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2512.15621","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.15621","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.47598016262054443}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"driving":[1],"requires":[2],"a":[3,23,53,63,84,90,104,109],"persistent":[4],"understanding":[5],"of":[6,26,149,161,168],"3D":[7],"scenes":[8],"that":[9,88],"is":[10,140],"robust":[11,133],"to":[12,34,113],"temporal":[13],"disturbances":[14],"and":[15,45,74,95,108,132,153,165,174],"accounts":[16],"for":[17],"potential":[18],"future":[19,55],"actions.":[20],"We":[21],"introduce":[22],"new":[24,64],"concept":[25,152],"4D":[27],"Occupancy":[28],"Spatio-Temporal":[29],"Persistence":[30],"(OccSTeP),":[31],"which":[32],"aims":[33],"address":[35,78],"two":[36],"tasks:":[37],"(1)":[38],"reactive":[39],"forecasting:":[40,48],"''what":[41],"will":[42,176],"happen":[43,51],"next''":[44],"(2)":[46],"proactive":[47],"\"what":[49],"would":[50],"given":[52],"specific":[54],"action\".":[56],"For":[57],"the":[58,121,147,150],"first":[59],"time,":[60],"we":[61,81],"create":[62],"OccSTeP":[65,151],"benchmark":[66],"with":[67,124],"challenging":[68],"scenarios":[69],"(e.g.,":[70],"erroneous":[71],"semantic":[72,159],"labels":[73],"dropped":[75],"frames).":[76],"To":[77],"this":[79],"task,":[80],"propose":[82],"OccSTeP-WM,":[83,155],"tokenizer-free":[85],"world":[86],"model":[87],"maintains":[89],"dense":[91],"voxel-based":[92],"scene":[93,122],"state":[94],"incrementally":[96],"fuses":[97],"spatio-temporal":[98],"context":[99],"over":[100],"time.":[101],"OccSTeP-WM":[102],"leverages":[103],"linear-complexity":[105],"attention":[106],"backbone":[107],"recurrent":[110],"state-space":[111],"module":[112],"capture":[114],"long-range":[115],"spatial":[116],"dependencies":[117],"while":[118],"continually":[119],"updating":[120],"memory":[123],"ego-motion":[125],"compensation.":[126],"This":[127],"design":[128],"enables":[129],"online":[130],"inference":[131],"performance":[134],"even":[135],"when":[136],"historical":[137],"sensor":[138],"input":[139],"missing":[141],"or":[142],"noisy.":[143],"Extensive":[144],"experiments":[145],"prove":[146],"effectiveness":[148],"our":[154],"yielding":[156],"an":[157],"average":[158],"mIoU":[160],"23.70%":[162],"(+6.56%":[163],"gain)":[164],"occupancy":[166],"IoU":[167],"35.89%":[169],"(+9.26%":[170],"gain).":[171],"The":[172],"data":[173],"code":[175],"be":[177],"open":[178],"source":[179],"at":[180],"https://github.com/FaterYU/OccSTeP.":[181]},"counts_by_year":[],"updated_date":"2025-12-19T19:45:34.690201","created_date":"2025-12-19T00:00:00"}