Accurate motion prediction of surrounding agents and safe motion planning are two closely coupled key tasks for social robot navigation in crowded environments. Deploying these systems on resource-constrained edge devices necessitates compact, unified models that can perform both…
This letter proposes CascadeOcc, a novel occupancy world model that prioritizes intrinsic structural hierarchy over extrinsic auxiliary modalities for autonomous driving. Occupancy world models -- forecasting the future driving environment and planning the driving trajectory -- e…