Occupancy generation — ROCC (ours) vs UniScene-v2, per scene

Interactive side-by-side occupancy: input BEV · ROCC · UniScene-v2 (λ=0.05) · ground truth. Drag to orbit each panel.

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Input BEVconditioning
input BEV
ROCC (ours)grounded
UniScene-v2dit.pt · official λ0.05
Ground truthnuPlan occ