CLARU
the-massesapache-2.0

Replica_OCC

A Replica-based occupancy benchmark providing RGB-D sequences and scene-level occupancy ground truth for evaluating embodied occupancy prediction systems.

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Likes1

Why This Matters for Physical AI

Provides benchmark data for training and evaluating embodied occupancy prediction systems that enable robots to build 3D semantic scene understanding from RGB-D observations.

Technical Profile

Modalities
rgbdepthsemantic_segmentation
Environment
simulation
Task Types
occupancy_prediction3d_reconstruction
Data Format
npy, pkl
Annotation Types
semantic_labelsoccupancy_labelscamera_posescamera_intrinsics
License
apache-2.0
Part of the Replica_OCC family

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