← RareOcc project page · λ=0.05 (primary)

Occupancy generation vs. UniScene-v2 — λ=0.15

These are the results at the paper's setting, λ=0.15. After submission we found the released UniScene-v2 code uses λ=0.05 by default; those (marginally different) results are on the λ=0.05 page and are the ones we now consider primary. ROCC's margin is unchanged in substance at either setting.

		UniScene-v2	UniScene-v2	Dense	+ bg	ROCC
Set	Metric	(λ=0.15)	(λ=0)	CNN	head‡	(ours)
mini-val	fg-mIoU ↑	18.07	–	33.55	45.62	49.25
	mIoU_US ↑	25.81	–	38.09	49.01	51.65
	occ-IoU ↑	16.64	–	24.74	24.19	27.25
key subset	fg-mIoU ↑	18.05	0.03	32.91	44.90	48.45
	mIoU_US ↑	25.87	13.12	37.51	48.35	50.92
	occ-IoU ↑	16.56	7.31	23.90	23.40	26.17

Occupancy generation on two views of the nuPlan-Occ validation split: mini-val (the full validation set) and key subset (one key frame per clip). One shared per-class IoU accumulator scores every column on identical ground truth. UniScene-v2's λ supplies a fraction of the ground-truth occupancy latent of the scored frame; at λ=0 it collapses. ‡ trained at a larger effective batch than the other columns.