{"id":"https://openalex.org/W7165683289","doi":"https://doi.org/10.48550/arxiv.2606.22971","title":"Humanoid-OmniOcc: Stereo-Based Full-View Occupancy Dataset for Embodied AI","display_name":"Humanoid-OmniOcc: Stereo-Based Full-View Occupancy Dataset for Embodied AI","publication_year":2026,"publication_date":"2026-06-22","ids":{"openalex":"https://openalex.org/W7165683289","doi":"https://doi.org/10.48550/arxiv.2606.22971"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.22971","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.22971","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.22971","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031953529","display_name":"Xiang Guo","orcid":"https://orcid.org/0000-0002-5006-4163"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Xianda","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139177525","display_name":"Bohao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Bohao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139153609","display_name":"Chenwei Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Chenwei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139188039","display_name":"Shiyuan Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Shiyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139182814","display_name":"Ruilin Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Ruilin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139151135","display_name":"Yiqun Duan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Duan, Yiqun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139174711","display_name":"Cong Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Cong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139168690","display_name":"Qin Zou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zou, Qin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139169925","display_name":"Wei Sui","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sui, Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2353000044822693,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2353000044822693,"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"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.22709999978542328,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.11569999903440475,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.6466000080108643},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.6118999719619751},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5101000070571899},{"id":"https://openalex.org/keywords/granularity","display_name":"Granularity","score":0.49779999256134033},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.41100001335144043},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.3776000142097473},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.37310001254081726},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.3490999937057495}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7520999908447266},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.6466000080108643},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.6118999719619751},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5831999778747559},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5101000070571899},{"id":"https://openalex.org/C177774035","wikidata":"https://www.wikidata.org/wiki/Q1246948","display_name":"Granularity","level":2,"score":0.49779999256134033},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4749000072479248},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.41100001335144043},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37790000438690186},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.3776000142097473},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.37310001254081726},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3490999937057495},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.3450999855995178},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.3237999975681305},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3100000023841858},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.301800012588501},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.2955000102519989},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.2896000146865845},{"id":"https://openalex.org/C160234255","wikidata":"https://www.wikidata.org/wiki/Q812535","display_name":"Bayesian inference","level":3,"score":0.2865999937057495},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2793000042438507},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.2782000005245209},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2754000127315521},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.26829999685287476},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.2669000029563904},{"id":"https://openalex.org/C80519477","wikidata":"https://www.wikidata.org/wiki/Q3532236","display_name":"Scenario testing","level":3,"score":0.25929999351501465}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.22971","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.22971","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.22971","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.22971","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Occupancy":[0],"prediction":[1],"at":[2,177],"voxel-level":[3],"granularity":[4],"is":[5,84],"essential":[6],"for":[7,23,56,137],"safe":[8],"robotic":[9],"navigation":[10],"and":[11,34,67,78,104,150,159,170],"interaction":[12],"in":[13,107],"complex":[14],"environments.":[15],"Existing":[16],"occupancy":[17,53],"datasets,":[18],"however,":[19],"are":[20,109],"predominantly":[21],"designed":[22,85],"autonomous":[24],"driving":[25],"with":[26,75],"vehicle-centric":[27],"biases":[28],"--":[29,38,115],"forward-facing":[30],"cameras,":[31],"far-field":[32],"geometry,":[33],"static":[35],"road":[36],"priors":[37,136],"limiting":[39],"their":[40],"applicability":[41],"to":[42,153],"embodied":[43],"humanoid":[44,57],"perception.":[45],"We":[46,123],"present":[47],"Humanoid-OmniOcc,":[48],"a":[49,87],"large-scale":[50,100],"panoramic":[51],"stereo-based":[52],"dataset":[54,60,83],"tailored":[55],"robots.":[58],"The":[59],"encompasses":[61],"15":[62],"diverse":[63],"simulated":[64,156],"indoor":[65],"scenes":[66,158],"5":[68],"real-world":[69,113,160],"environments,":[70,161],"yielding":[71],"over":[72],"155K":[73],"samples":[74],"broad":[76],"scene":[77],"style":[79],"diversity.":[80],"Importantly,":[81],"the":[82,120,163,166],"around":[86],"Real2Sim2Real":[88,167],"closed-loop":[89],"paradigm:":[90],"real":[91],"sensor":[92],"specifications":[93],"drive":[94],"physically":[95],"accurate":[96,138],"simulation,":[97],"simulation":[98,108],"produces":[99],"annotated":[101],"training":[102],"data,":[103],"models":[105],"trained":[106],"directly":[110],"evaluated":[111],"on":[112],"captures":[114],"enabling":[116],"iterative":[117],"refinement":[118],"of":[119,165],"sim-to-real":[121],"pipeline.":[122],"further":[124],"propose":[125],"\\textbf{H}umanoid":[126],"\\textbf{S}urround":[127],"\\textbf{S}tereo-guided":[128],"\\textbf{Occ}upancy":[129],"model":[130],"(Humanoid-OmniOcc)":[131],"that":[132,144],"exploits":[133],"robust":[134],"depth":[135],"2D-to-3D":[139],"lifting.":[140],"Extensive":[141],"experiments":[142],"show":[143],"Humanoid-OmniOcc":[145],"consistently":[146],"outperforms":[147],"monocular":[148],"baselines":[149],"generalizes":[151],"well":[152],"both":[154],"unseen":[155],"test":[157],"validating":[162],"effectiveness":[164],"design.":[168],"Code":[169],"data":[171],"will":[172],"be":[173],"available":[174],"upon":[175],"acceptance":[176],"https://d-robotics-ai-lab.github.io/humanoid-omniocc.":[178]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-24T00:00:00"}