DIO: Decomposable Implicit 4D Occupancy-Flow World Model

Scene Occupancy (b) Instance Occupancy (c) Scene Flow (d) Rendered LiDAR Figure 1. We present DIO, a world model that learns unsupervised 4D occupancy and flow (a, c) and can be decomposed into instance occupancy (b) as well as transfered to downstream tasks like LiDAR point cloud forecasting (d).