AdaOcc: Adaptive 3D Occupancy Prediction for Embodied Tasks
Embodied tasks demand accurate, flexible, and semantically rich 3D scene representations. 3D semantic occupancy is well suited to this requirement, as it can model holistic 3D spaces by encoding geometric occupancy along with semantic categories. However, existing occupancy prediction methods struggle to meet practical deployment requirements, such as adapting to varying computing budgets, sensor setups, and observation views. In this paper, we propose a point-based Adaptive 3D Occupancy Prediction method, called AdaOcc, tailored for embodied scenarios. To accommodate heterogeneous sensor inputs, AdaOcc uses an adaptive geometry-guided dual-branch encoder that can support RGB images in va...
| Authors | Jinglong Wang, Yunjie Wang, Zhiyang Zhang et al. |
|---|---|
| Primary category | cs.CV |
| Published | 30 September 2026 |
| Last updated at source | 10 October 2026 |
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