OccSim: Multi-kilometer Simulation with Long-horizon Occupancy World Models
Overview
OccSim is a data-driven autonomous driving simulation framework that eliminates the need for HD maps or pre-recorded logs. It generates over 3000 continuous frames and maps spanning more than 9 kilometers, with the potential to extend beyond 110K frames. The system uses a static occupancy world model and a Layout Generator to synthesize diverse simulation data, achieving up to 74% zero-shot performance on unseen data when scaled.
From arXiv Robotics — research abstracts
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Reported quantity · improvement in stable generation length: 80 other · Basis not reported
“rst 3D occupancy world model driven simulator that requires neither HD maps nor log-derived layouts. OccSim obviates the requirement for continuous logs or HD maps; conditioned only on a single initial frame and a sequence of future ego-actions. It can stably generate over 3000 continuous frames, an 80x improvement in stable generation length over previous SoTA occupancy world models, and fuses them into maps spannin”
Exact source · revision 1Source owner not reported
Reported quantity · Frames: 110000 other · Basis not reported
“g over 9 kilometers. Further qualitative stress tests show that it can roll out beyond 110K frames. OccSim is powered by two modules: W-DiT based static occupancy world model and the Layout Generator. W-DiT handles the ultra-long-horizon generation of static environments by explicitly introducing known rigid transformations in architecture design, while the Layout Generator populates the dynamic foreground with react”
Exact source · revision 1Source owner not reported
Reported quantity · data size scaling factor: 5 other · Basis not reported
“aled up to 5x its original size, zero-shot performance increases to 74%.”
Exact source · revision 1Source owner not reported
Evidence dependency changes (2)
- 2026-10-30T22:16:09.360Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
- 2026-10-30T22:15:48.155Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
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- arXiv Robotics — research abstractsSignalOccSim: Multi-kilometer Simulation with Long-horizon Occupancy World Models
OccSim is a data-driven autonomous driving simulation framework that eliminates the need for HD maps or pre-recorded logs. It generates over 3000 continuous frames and maps spanning more than 9 kilometers, with the potential to extend beyond 110K frames. The system uses a static occupancy world model and a Layout Generator to synthesize diverse simulation data, achieving up to 74% zero-shot performance on unseen data when scaled.
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