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

We introduce UniOcc, a comprehensive, unified benchmark for occupancy forecasting (i.e., predicting future occupancies based on historical information) and current-frame occupancy prediction from camera images. UniOcc unifies data from multiple real-world datasets (i.e., nuScenes, Waymo) and high-fidelity driving simulators (i.e., CARLA, OpenCOOD), which provides 2D/3D occupancy labels with per-voxel flow annotations and support for cooperative autonomous driving. Unlike existing studies that rely on suboptimal pseudo labels for evaluation, UniOcc incorporates novel evaluation metrics that do not depend on ground-truth occupancy, enabling robust assessment on additional aspects of occupancy quality. Through extensive experiments on state-of-the-art models, we demonstrate that large-scale, diverse training data and explicit flow information significantly enhance occupancy prediction and forecasting performance. We will release UniOcc to facilitate research in safe and reliable autonomous driving.