Broader Indoor Evaluation and Temporal Memory for 3D Occupancy Prediction

Broaden the evaluation of AdaOcc beyond indoor benchmarks in single-frame or direct-aggregation settings and develop explicit temporal memory for 3D occupancy prediction.

Background

AdaOcc is evaluated primarily on indoor occupancy benchmarks using single-frame observations or direct aggregation of observations. The authors identify this evaluation scope as a limitation because it does not establish how the method performs across broader indoor environments or under temporally evolving observations. They explicitly leave broader indoor evaluation and the incorporation of temporal memory as unresolved directions for future work.

References

Our evaluation is further limited to indoor benchmarks in the single-frame or direct-aggregation setting, so broader indoor evaluation and explicit temporal memory remain open directions.

— AdaOcc: Adaptive 3D Occupancy Prediction for Embodied Tasks  (2609.38864 - Wang et al., 30 Sep 2026) in Section 6, “Limitations” (Supplemental Material)