| --- |
| pretty_name: OccStress |
| viewer: false |
| license: other |
| license_name: occstress-source-dependent-terms |
| license_link: https://huggingface.co/datasets/insailab/OccStress/blob/main/DISTRIBUTION.md |
| task_categories: |
| - other |
| tags: |
| - 3d |
| - timeseries |
| - occupancy-forecasting |
| - robustness |
| - autonomous-driving |
| - nuscenes |
| - waymo |
| - carla |
| --- |
| |
|
|
| <p align="center"> |
| <img src="assets/occstress-logo.png" width="88" alt="OccStress logo"> |
| </p> |
|
|
| <h1 align="center">OccStress</h1> |
|
|
| <p align="center"> |
| <strong>Stress-Testing the 4D Occupancy Forecasting Chain</strong><br> |
| NeurIPS 2026 · Evaluations and Datasets Track |
| </p> |
|
|
| <p align="center"> |
| <a href="https://insailab.org/OccStress/"><img src="https://img.shields.io/badge/Project_Page-444444?style=flat-square&logo=data%3Aimage%2Fsvg%2Bxml%3Bbase64%2CPHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgdmlld0JveD0iMCAwIDI0IDI0IiBmaWxsPSJub25lIiBzdHJva2U9IndoaXRlIiBzdHJva2Utd2lkdGg9IjIiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLWxpbmVqb2luPSJyb3VuZCIgY2xhc3M9Imx1Y2lkZSBsdWNpZGUtZ2xvYmUiIGFyaWEtaGlkZGVuPSJ0cnVlIj48Y2lyY2xlIGN4PSIxMiIgY3k9IjEyIiByPSIxMCI%2BPC9jaXJjbGU%2BPHBhdGggZD0iTTEyIDJhMTQuNSAxNC41IDAgMCAwIDAgMjAgMTQuNSAxNC41IDAgMCAwIDAtMjAiPjwvcGF0aD48cGF0aCBkPSJNMiAxMmgyMCI%2BPC9wYXRoPjwvc3ZnPg%3D%3D" alt="Project Page"></a> |
| <a href="https://arxiv.org/abs/2512.15621"><img src="https://img.shields.io/badge/Paper-444444?style=flat-square&logo=arxiv&logoColor=white" alt="Paper on arXiv"></a> |
| <a href="https://github.com/FaterYU/OccStress"><img src="https://img.shields.io/badge/Code-444444?style=flat-square&logo=github&logoColor=white" alt="Code on GitHub"></a> |
| <a href="https://insailab.org/OccStress/leaderboard/"><img src="https://img.shields.io/badge/Leaderboard-444444?style=flat-square&logo=data%3Aimage%2Fsvg%2Bxml%3Bbase64%2CPHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgdmlld0JveD0iMCAwIDI0IDI0IiBmaWxsPSJub25lIiBzdHJva2U9IndoaXRlIiBzdHJva2Utd2lkdGg9IjIiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLWxpbmVqb2luPSJyb3VuZCIgY2xhc3M9Imx1Y2lkZSBsdWNpZGUtY2hhcnQtbm8tYXhlcy1jb2x1bW4taW5jcmVhc2luZyIgYXJpYS1oaWRkZW49InRydWUiPjxwYXRoIGQ9Ik01IDIxdi02Ij48L3BhdGg%2BPHBhdGggZD0iTTEyIDIxVjkiPjwvcGF0aD48cGF0aCBkPSJNMTkgMjFWMyI%2BPC9wYXRoPjwvc3ZnPg%3D%3D" alt="Leaderboard"></a> |
| </p> |
|
|
| <p align="center"> |
| <a href="#download">Download</a> · |
| <a href="#dataset-coverage">Coverage</a> · |
| <a href="FORMAT.md">Data Format</a> · |
| <a href="DISTRIBUTION.md">Licenses and Use</a> |
| </p> |
|
|
| **How do perception errors affect future occupancy forecasts?** OccStress |
| evaluates robustness across the occupancy forecasting chain, from sensor errors |
| to 3D occupancy states and multi-horizon predictions. |
|
|
|  |
|
|
| <p align="center"> |
| <strong>3 datasets · 10,827 unique anchors · 975 protocols · 6 future horizons</strong> |
| </p> |
|
|
| This repository provides **evaluation protocols, derived occupancy assets and |
| supporting metadata**. All **75 archives are available**, totaling **40.95 GB |
| compressed** and **143.67 GB extracted** including metadata. Download only the |
| dataset, track or upstream source you need. |
|
|
| Original camera images, LiDAR, clean GT and model checkpoints are **not bundled**. |
| See [external prerequisites](EXTERNAL_DATA.md) and [source-dependent terms](DISTRIBUTION.md). |
|
|
| ## Dataset Coverage |
|
|
| | Dataset | Source | Scenes | Anchors per protocol | |
| | --- | --- | ---: | ---: | |
| | **OccStress-nuScenes** | nuScenes / Occ3D | 150 | 4,519 | |
| | **OccStress-Waymo** | Waymo / Occ3D | 202 | 5,978 | |
| | **OccStress-CARLA** | UniOcc CARLA simulation | 3 | 330 | |
|
|
| All datasets use **2 Hz observations**, a canonical window of four historical |
| states plus the current state, and six future targets at **+0.5 to +3.0 seconds**. |
| The selected frames total 6,019 / 7,998 / 360 for nuScenes / Waymo / CARLA. |
|
|
| | Published protocols | nuScenes | Waymo | CARLA | |
| | --- | ---: | ---: | ---: | |
| | Manual | 38 | 38 | 38 | |
| | Upstream | 364 | 219 | 218 | |
| | Position sweep | 60 | 0 | 0 | |
|
|
| Counts include clean references. **Protocols reuse anchors and assets**; |
| 975 protocols do not represent 975 independent datasets or new sets of samples. |
| Waymo's two EFFOcc sensor-stress branches retain separate clean protocol files. |
|
|
| ## What Can You Evaluate? |
|
|
| - **Upstream robustness:** use source-specific occupancy predictions under |
| camera or LiDAR stressors to measure error propagation into forecasting. |
| - **Manual robustness:** test semantic replacement, dropout, holes, |
| misalignment and traffic mirroring directly in occupancy states. |
| - **Temporal sensitivity:** compare Current-only, Recent-burst and History-only |
| failure regimes, or use the fixed-budget, single-state position sweep to |
| isolate input-position effects. |
|
|
| Traffic mirroring transforms inputs, targets and motion metadata consistently |
| and is reported separately from non-traffic robustness. Four-state models do |
| not observe the earliest canonical input; that position is marked unobserved, |
| not robust. See [format and evaluation conventions](FORMAT.md). |
|
|
| ## Download |
|
|
| ### Start With One Dataset and Track |
|
|
| For example, download the **Waymo manual track** and its metadata: |
|
|
| ```bash |
| python -m pip install -U huggingface_hub |
| hf download insailab/OccStress --repo-type dataset \ |
| --local-dir /datasets/OccStress-download \ |
| --include README.md DOWNLOAD.md FORMAT.md EXTERNAL_DATA.md DISTRIBUTION.md packages.json \ |
| 'metadata/common.tar.zst' 'metadata/OccStress-Waymo.tar.zst' \ |
| 'archives/manual/OccStress-Waymo/*.tar.zst' |
| ``` |
|
|
| Use [DOWNLOAD.md](DOWNLOAD.md) for other tracks, source-specific selection, |
| pinned revisions, checksum verification and extraction commands. |
| The [package index](packages.json) lists every archive's size and SHA256. |
|
|
| Extract selected archives into one shared `OccStress/` root, then prepare |
| [external GT and metadata](EXTERNAL_DATA.md) before running a model. |
| Reserve space for both downloaded archives and their extracted contents; |
| original dependencies need additional storage. |
|
|
| <details> |
| <summary><strong>What is inside the extracted dataset?</strong></summary> |
|
|
| ```text |
| OccStress/ |
| meta/<dataset>/ Dataset metadata and controls |
| protocols/manual/<dataset>/ Manual evaluation protocols |
| protocols/upstream/<dataset>/ Source-specific evaluation protocols |
| protocols/position_sweep/ Single-state temporal diagnostics |
| occ/manual/<dataset>/ Shared manual corruption assets |
| occ/upstream/<dataset>/ Exported upstream occupancy |
| events/manual/<dataset>/ Corruption event metadata |
| ``` |
|
|
| `<dataset>` is `OccStress-nuScenes`, `OccStress-Waymo` or `OccStress-CARLA`. |
| Protocol paths are relative to this root. Position sweeps reuse the existing |
| occupancy assets; they do not need duplicate voxel packs. See [FORMAT.md](FORMAT.md). |
|
|
| </details> |
|
|
| ## Before Evaluation |
|
|
| - **Use the matching ground truth.** Native Waymo labels require the supplied |
| mapping; CARLA requires the canonical right-handed view. Already converted |
| occupancy arrays must not be transformed twice. |
| - **Keep the model's input and control policy.** Use all six genuine future |
| targets; do not substitute a current-frame reconstruction. |
| - **Keep metric conventions explicit.** Historical paper metrics and the |
| released present-class convention are not interchangeable. Paper averages |
| use the 1, 2 and 3 second horizons. |
| - **Use the assets directly when applicable.** Occupancy-input forecasting |
| does not require upstream weights or original sensors. Camera-direct methods |
| and upstream re-export do require the relevant sensor inputs. |
|
|
| This is an **archive-based benchmark**, not an Arrow table for |
| `datasets.load_dataset`. Only unpickle protocol files from trusted sources. |
|
|
| ## Scope and Limitations |
|
|
| OccStress is a controlled diagnostic stress test, **not a deployment-risk |
| estimate or safety certification**. Its corruptions are reproducible stress |
| conditions, not a calibrated distribution of real-world failures. |
|
|
| CARLA contains only three simulated validation scenes. The datasets differ in |
| class support and sensor configuration; report cross-dataset and zero-shot |
| settings explicitly. Published protocols do not imply that every model supports |
| every track or that every model/protocol combination has been evaluated. |
|
|
| Preparation checks and their scope are recorded in [FORMAT.md](FORMAT.md#validation-scope) |
| and the published manifests. Source-dataset registration, attribution and use |
| conditions still apply; see [DISTRIBUTION.md](DISTRIBUTION.md). |
|
|
| ## Croissant Metadata |
|
|
| De-anonymized [Croissant 1.1 metadata](croissant/README.md) is available for |
| all three datasets, including Responsible AI documentation and provenance. |
|
|
| [Camera-ready ZIP](croissant/OccStress-Croissant.zip) · |
| [nuScenes JSON](croissant/OccStress-nuScenes.json) · |
| [Waymo JSON](croissant/OccStress-Waymo.json) · |
| [CARLA JSON](croissant/OccStress-CARLA.json) |
|
|
| The metadata links the original packages and provides machine-readable anchor, |
| protocol and label-map indexes. It does not replace the voxel loaders or the |
| [external ground-truth prerequisites](EXTERNAL_DATA.md). |
|
|
| ## Citation |
|
|
| ```bibtex |
| @inproceedings{zheng2026occstress, |
| title = {{OccStress}: Stress-Testing the {4D} Occupancy Forecasting Chain}, |
| author = {Zheng, Yu and Hu, Jie and Xiong, Jiaqi and Liu, Ruiping and Zheng, Junwei and Yang, Kailun and Zhang, Jiaming}, |
| booktitle = {Advances in Neural Information Processing Systems}, |
| year = {2026}, |
| url = {https://arxiv.org/abs/2512.15621} |
| } |
| ``` |
|
|
| Please also cite the source datasets, corruption operators and upstream models |
| used in your evaluation. Source references are listed in [FORMAT.md](FORMAT.md#sources). |
|
|
| For dataset issues, open a [discussion](https://huggingface.co/datasets/insailab/OccStress/discussions) |
| with the dataset, protocol path, revision and error message. Do not post tokens |
| or private source-data links. |
|
|
