Yang, Yu, Jianbiao Mei, Yukai Ma, Siliang Du, Wenqing Chen, Yijie Qian, Yuxiang Feng, and Yong Liu. “Driving in the Occupancy World: Vision-Centric 4D Occupancy Forecasting and Planning via World Models for Autonomous Driving”. Proceedings of the AAAI Conference on Artificial Intelligence 39, no. 9 (April 11, 2025): 9327–9335. Accessed July 15, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/33010.