COME adds a scene-centric forecasting branch as a ControlNet-style condition to a diffusion occupancy world model, improving static-scene consistency and beating prior methods on Occ3D-nuScenes while hiding a stronger intermediate baseline.
Point cloud forecasting as a proxy for 4d occupancy forecasting
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COME: Adding Scene-Centric Forecasting Control to Occupancy World Model
COME adds a scene-centric forecasting branch as a ControlNet-style condition to a diffusion occupancy world model, improving static-scene consistency and beating prior methods on Occ3D-nuScenes while hiding a stronger intermediate baseline.