VEOcc: Voxel-Centric Online Semantic Occupancy Prediction For Embodied Scene Understanding

arXiv:2605.25059 · cs.CV · Submitted 2026-05-24 · Read on arXiv

cs.CV

Submitted: 2026-05-24

Updated: 2026-09-22

Project page: https://wryzju.github.io/VEOcc

Terminology

• Aggregation — 11× in this paper · explained in 1 episode
• Transformer — 8× in this paper · explained in 2 episodes
• Ablation — 7× in this paper · explained in 1 episode
• Consistency — 7× in this paper · explained in 3 episodes
• Confidence-Driven Incremental State Update — 6× in this paper
• Generalization — 6× in this paper · explained in 13 episodes
• Temporal consistency — 6× in this paper · explained in 2 episodes
• Accuracy — 5× in this paper · explained in 1 episode
• Benchmark — 5× in this paper · explained in 2 episodes
• Cross-Temporal Logit Aggregation — 5× in this paper
• Fidelity — 4× in this paper · explained in 2 episodes
• Reliability-Aware Confidence Modulation — 4× in this paper
• Calibration — 3× in this paper · explained in 7 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Ablation Studies — 2× in this paper · explained in 1 episode
• Downstream Tasks — 2× in this paper · explained in 2 episodes
• Feature Pyramid Network — 2× in this paper
• Gaussian Splatting — 2× in this paper · explained in 4 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Task Planning — 1× in this paper · explained in 2 episodes

Sources

• From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence
• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
• SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning
• RoboOcc: Enhancing the Geometric and Semantic Scene Understanding for Robots
• Monocular Occupancy Prediction for Scalable Indoor Scenes
• Symphonize 3D Semantic Scene Completion with Contextual Instance Queries
• ODG: Occupancy Prediction Using Dual Gaussians

Related papers

• Loss Knows Best: Detecting Annotation Errors in Videos via Loss Trajectories
• AnchorWeave: World-Consistent Video Generation with Retrieved Local Spatial Memories
• Benchmarking the Robustness of Foundation Models for Mammography under Domain Shift
• MambaX-Net: Dual-Input Mamba-Enhanced Cross-Attention Network for Longitudinal MRI Segmentation
• TeleOCR: Navigating Document Parsing Across Digital and Camera-Captured Documents
• A Survey on Efficient Vision-Language-Action Models