arxivcs.ROcs.CV2026-07-06
GEM-Occ: From Visual Geometry Evidence to Embodied Semantic Occupancy Memory
Hu Zhu, Bohan Li, Xianda Guo, Hongsi Liu, Baorui Peng, Mingqi Yuan, et al.
Semantic occupancy provides a structured spatial memory for embodied indoor agents by jointly representing occupied regions, observed free space, unknown areas, and object semantics. However, existing indoor occupancy benchmarks and methods mainly focus on single-view prediction…