Abstract
3D semantic occupancy prediction estimates voxel-wise occupancy and semantic labels throughout a scene. Our experiments reveal that conventional sparse transposed-convolution upsampling yields poorly differentiated voxel responses and that successive decoder layers discard previously correct semantic predictions. To address these issues, we present Feature-Diverse Upsampling and Memory-Aware Decoding for 3D Occupancy Prediction (FM-Occ), comprising two components. First, 3D Sparse Subvoxel Shuffle (3S) mitigates feature homogenization by constructing candidate child features in the channel dimension, jointly transforming and normalizing them, and then rearranging them onto a finer sparse grid with explicit feature-coordinate correspondence. Second, Entropy-Regulated Layer-wise Memory (ER-LM) retains semantic information across decoder layers by maintaining a layer-wise memory for each query through gated recurrent updates and using prediction entropy to regulate the historical information propagated to the next layer. During training, a class-weighted entropy loss Lcwe provides label-guided regularization for matched semantic queries. On SemanticKITTI, 3S increases the spatial coefficient of variation of normalized voxel-wise root-mean-square (RMS) responses from 0.41% to 4.03%, while ER-LM reduces semantic degradation and improves error correction across decoder layers. The combined FM-Occ improves mIoU from 12.16% to 12.73% with negligible memory overhead. ER-LM further improves mIoU in the BEV-based DISC framework from 16.78% to 17.17%, supporting its applicability across 3D voxel-based and BEV-based architectures.
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URL
https://arxiv.org/abs/2610.29388
