Recent recursive Transformer studies have primarily reused shared parameters across computation steps to construct compact, parameter-efficient models. In this work, we leverage recursion to build effectively deeper Transformers with stronger representational capacity. However, i…
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…