UniOcc: A Unified Benchmark for Occupancy Forecasting and Prediction in Autonomous Driving

UniOcc is a unified framework for occupancy forecasting, single-frame occupancy prediction, and occupancy flow estimation in autonomous driving. By integrating multiple real-world (nuScenes, Waymo) and synthetic (CARLA, OpenCOOD) datasets, UniOcc enables multi-domain training, seamless cross-dataset evaluation, and robust benchmarking across diverse driving environments.

This dataset contains the data for UniOcc.

For data semantics and API please refer to our Github page UniOcc for detailed instructions.