# uniocc by Trustworthy Autonomous Systems Laboratory: Dataset Source: https://savrn.com/datasets/uniocc Markdown alternate of the page above; the site index is https://savrn.com/llms.txt --- ## Dataset Card By Trustworthy Autonomous Systems Laboratory, published under mit, revision e81775b36e37. ### UniOcc: A Unified Benchmark for Occupancy Forecasting and Prediction in Autonomous Driving [Paper](https://huggingface.co/papers/2503.24381) | [Project Page](https://uniocc.github.io/) | [Code](https://github.com/tasl-lab/UniOcc) Autonomous Driving researchers, have you ever been bothered by the fact that popular datasets all have their different formats, and standardizing them is a pain? Have you ever been frustrated by the difficulty of just understanding the file semantics? This challenge is even worse in the occupancy domain. But, UniOcc is here to help. UniOcc is a unified framework for occupancy forecasting, single-frame occupancy prediction, and occupancy flow estimation in autonomous driving. By integrating multiple real-world (nuScenes, Waymo) and synthetic (CARLA, OpenCOOD) datasets, UniOcc enables multi-domain training, seamless cross-dataset evaluation, and robust benchmarking across diverse driving environments. [Yuping Wang1,2*](https://www.linkedin.com/in/yuping-wang-5a7178185/), [Xiangyu Huang3*](https://www.linkedin.com/in/xiangyu-huang-606089292), [Xiaokang Sun1*](https://scholar.google.com/citations?user=2sWnAjQAAAAJ&hl=en), [Mingxuan Yan1](https://waterhyacinthinnanhu.github.io/), [Shuo Xing4](https://shuoxing98.github.io/), [Zhengzhong Tu4](https://vztu.github.io/), [Jiachen Li1](https://jiachenli94.github.io/) [Read the full dataset card (1,974 words)](https://savrn.com/datasets/uniocc/card) ## Details Repository tasl-lab/uniocc Publisher Trustworthy Autonomous Systems Laboratory Task category Image to 3d Tags autonomous-driving, occupancy-prediction, occupancy-forecasting Size category Not stated by the source Languages Not stated by the source Revision e81775b36e376f591a1145ca054b72fd541a67eb Last updated 2025-08-19 ## SAVRN's Notes on uniocc uniocc is a university-lab benchmark kit, not a training corpus: 110 files and 152.0 MB from the Trustworthy Autonomous Systems Laboratory, organized as 109 .npz scene files such as Carla-10Hz-mini/scene_Town07/0.npz. The page categorizes it as image-to-3D with autonomous-driving, occupancy-prediction and occupancy-forecasting tags. There are no row counts or configurations listed, just files. MIT license, no access gate, last updated 2025-08-19. The 1.4M monthly downloads look wrong for a 152 MB niche benchmark; assume CI and script traffic rather than active research use. Use it if you need a standardized occupancy format, since the card pitches exactly that pain point, and look elsewhere for volume. At 152 MB this is a format converter and eval harness, not data to train a driving world model on. SAVRN Research ## Files 110 files, 152.0 MB in total. Other109 files · 152.0 MB Repository1 file · 2.5 KB Every file (first 110) | File | Type | Size | SHA-256 | | --- | --- | --- | --- | | Carla-10Hz-mini/scene_Town07/0.npz | Other | 214.1 KB | dba3a7cb45fe | | Carla-10Hz-mini/scene_Town07/0_bev.png | Other | 1.3 MB | d1c0bbbd2cae | | Carla-10Hz-mini/scene_Town07/0_camera_0.png | Other | 807.3 KB | 8b6eb7658121 | | Carla-10Hz-mini/scene_Town07/0_camera_1.png | Other | 778.4 KB | 44093b3a63d6 | | Carla-10Hz-mini/scene_Town07/0_camera_2.png | Other | 927.2 KB | 60fd9ff467ce | | Carla-10Hz-mini/scene_Town07/0_camera_3.png | Other | 819.7 KB | dc4d04b2a1ec | | Carla-10Hz-mini/scene_Town07/0_surround_lidar.ply | Other | 2.1 MB | — | | Carla-10Hz-mini/scene_Town07/1.npz | Other | 1.1 MB | 8cbd43a2a527 | | Carla-10Hz-mini/scene_Town07/10.npz | Other | 2.0 MB | dfce2ffc5c79 | | Carla-10Hz-mini/scene_Town07/100.npz | Other | 2.4 MB | 445e42684226 | | Carla-10Hz-mini/scene_Town07/100_bev.png | Other | 1.3 MB | 920543cbe52e | | Carla-10Hz-mini/scene_Town07/100_camera_0.png | Other | 935.4 KB | b463939fdab0 | | Carla-10Hz-mini/scene_Town07/100_camera_1.png | Other | 915.0 KB | ca218827f5af | | Carla-10Hz-mini/scene_Town07/100_camera_2.png | Other | 1.1 MB | 60ffda891de9 | | Carla-10Hz-mini/scene_Town07/100_camera_3.png | Other | 1.0 MB | 40dc60e65275 | | Carla-10Hz-mini/scene_Town07/100_surround_lidar.ply | Other | 2.1 MB | — | | Carla-10Hz-mini/scene_Town07/101.npz | Other | 2.5 MB | eefab45ce600 | | Carla-10Hz-mini/scene_Town07/101_bev.png | Other | 1.3 MB | e1d383cc09ef | | Carla-10Hz-mini/scene_Town07/101_camera_0.png | Other | 931.1 KB | 53579d5c1bc6 | | Carla-10Hz-mini/scene_Town07/101_camera_1.png | Other | 920.5 KB | 341bb80fe765 | | Carla-10Hz-mini/scene_Town07/101_camera_2.png | Other | 1.1 MB | 3c5e664c86b0 | | Carla-10Hz-mini/scene_Town07/101_camera_3.png | Other | 1.0 MB | c5dabe934f7b | | Carla-10Hz-mini/scene_Town07/101_surround_lidar.ply | Other | 2.1 MB | — | | Carla-10Hz-mini/scene_Town07/102.npz | Other | 2.6 MB | 9cdb9f018cca | | Carla-10Hz-mini/scene_Town07/102_bev.png | Other | 1.3 MB | e3dded1a91ed | | Carla-10Hz-mini/scene_Town07/102_camera_0.png | Other | 924.2 KB | dd305d2c79c6 | | Carla-10Hz-mini/scene_Town07/102_camera_1.png | Other | 913.4 KB | 5afe4357efc0 | | Carla-10Hz-mini/scene_Town07/102_camera_2.png | Other | 1.1 MB | 56017bf2bedf | | Carla-10Hz-mini/scene_Town07/102_camera_3.png | Other | 1.0 MB | 1581362614e8 | | Carla-10Hz-mini/scene_Town07/102_surround_lidar.ply | Other | 2.1 MB | — | | Carla-10Hz-mini/scene_Town07/103.npz | Other | 2.6 MB | c3364029edba | | Carla-10Hz-mini/scene_Town07/103_bev.png | Other | 1.2 MB | 5cd6dca3b089 | | Carla-10Hz-mini/scene_Town07/103_camera_0.png | Other | 918.9 KB | edb6057ce493 | | Carla-10Hz-mini/scene_Town07/103_camera_1.png | Other | 912.9 KB | e703c1ac918c | | Carla-10Hz-mini/scene_Town07/103_camera_2.png | Other | 1.1 MB | 5570edbefcbe | | Carla-10Hz-mini/scene_Town07/103_camera_3.png | Other | 1.0 MB | 0691ad493421 | | Carla-10Hz-mini/scene_Town07/103_surround_lidar.ply | Other | 2.1 MB | — | | Carla-10Hz-mini/scene_Town07/104.npz | Other | 2.6 MB | b4bc96d8d2bc | | Carla-10Hz-mini/scene_Town07/104_bev.png | Other | 1.2 MB | a8de2bfe07f4 | | Carla-10Hz-mini/scene_Town07/104_camera_0.png | Other | 913.1 KB | 026bf657f7da | | Carla-10Hz-mini/scene_Town07/104_camera_1.png | Other | 910.5 KB | 063bf823477f | | Carla-10Hz-mini/scene_Town07/104_camera_2.png | Other | 1.1 MB | 30fa4d710563 | | Carla-10Hz-mini/scene_Town07/104_camera_3.png | Other | 1.0 MB | 62e95696a0a0 | | Carla-10Hz-mini/scene_Town07/104_surround_lidar.ply | Other | 2.1 MB | — | | Carla-10Hz-mini/scene_Town07/105.npz | Other | 2.6 MB | 68d898d6bfe4 | | Carla-10Hz-mini/scene_Town07/105_bev.png | Other | 1.2 MB | d452dd5778c2 | | Carla-10Hz-mini/scene_Town07/105_camera_0.png | Other | 912.0 KB | 2f2e72957701 | | Carla-10Hz-mini/scene_Town07/105_camera_1.png | Other | 908.6 KB | 68dbe86dc7fc | | Carla-10Hz-mini/scene_Town07/105_camera_2.png | Other | 1.1 MB | af423b49a24e | | Carla-10Hz-mini/scene_Town07/105_camera_3.png | Other | 1.0 MB | 8f30eb7fd658 | | Carla-10Hz-mini/scene_Town07/105_surround_lidar.ply | Other | 2.1 MB | — | | Carla-10Hz-mini/scene_Town07/106.npz | Other | 2.6 MB | a97937603436 | | Carla-10Hz-mini/scene_Town07/106_bev.png | Other | 1.2 MB | 84312be2a22a | | Carla-10Hz-mini/scene_Town07/106_camera_0.png | Other | 910.0 KB | 3764b9f9828a | | Carla-10Hz-mini/scene_Town07/106_camera_1.png | Other | 912.8 KB | 28bcafdf77c4 | | Carla-10Hz-mini/scene_Town07/106_camera_2.png | Other | 1.1 MB | faa0caa27473 | | Carla-10Hz-mini/scene_Town07/106_camera_3.png | Other | 1.0 MB | 3217aecd1f9d | | Carla-10Hz-mini/scene_Town07/106_surround_lidar.ply | Other | 2.1 MB | — | | Carla-10Hz-mini/scene_Town07/107.npz | Other | 2.6 MB | 00bd7671b72e | | Carla-10Hz-mini/scene_Town07/107_bev.png | Other | 1.2 MB | 5fbd311fe60d | | Carla-10Hz-mini/scene_Town07/107_camera_0.png | Other | 911.7 KB | de0b076c3d0a | | Carla-10Hz-mini/scene_Town07/107_camera_1.png | Other | 908.9 KB | 37266de42535 | | Carla-10Hz-mini/scene_Town07/107_camera_2.png | Other | 1.1 MB | 4bcf58e7863b | | Carla-10Hz-mini/scene_Town07/107_camera_3.png | Other | 1.0 MB | 87463180fb15 | | Carla-10Hz-mini/scene_Town07/107_surround_lidar.ply | Other | 2.1 MB | — | | Carla-10Hz-mini/scene_Town07/108.npz | Other | 2.7 MB | 2081d042df4d | | Carla-10Hz-mini/scene_Town07/108_bev.png | Other | 1.2 MB | 8d0cc654873a | | Carla-10Hz-mini/scene_Town07/108_camera_0.png | Other | 915.4 KB | 722c52d7f409 | | Carla-10Hz-mini/scene_Town07/108_camera_1.png | Other | 904.7 KB | 1fb08c6753a5 | | Carla-10Hz-mini/scene_Town07/108_camera_2.png | Other | 1.1 MB | e1527c3e09e7 | | Carla-10Hz-mini/scene_Town07/108_camera_3.png | Other | 1.0 MB | 9f7867b253c1 | | Carla-10Hz-mini/scene_Town07/108_surround_lidar.ply | Other | 2.1 MB | — | | Carla-10Hz-mini/scene_Town07/109.npz | Other | 2.7 MB | 92a2ea0c5cce | | Carla-10Hz-mini/scene_Town07/109_bev.png | Other | 1.2 MB | fd590b1d1489 | | Carla-10Hz-mini/scene_Town07/109_camera_0.png | Other | 913.6 KB | 6958e1ecc9e0 | | Carla-10Hz-mini/scene_Town07/109_camera_1.png | Other | 909.8 KB | bf50b81b4dc4 | | Carla-10Hz-mini/scene_Town07/109_camera_2.png | Other | 1.1 MB | 24b867bdf363 | | Carla-10Hz-mini/scene_Town07/109_camera_3.png | Other | 1.0 MB | 6cba2c307946 | | Carla-10Hz-mini/scene_Town07/109_surround_lidar.ply | Other | 2.1 MB | — | | Carla-10Hz-mini/scene_Town07/10_bev.png | Other | 1.3 MB | 897c2db270d0 | | Carla-10Hz-mini/scene_Town07/10_camera_0.png | Other | 845.6 KB | bc3933917624 | | Carla-10Hz-mini/scene_Town07/10_camera_1.png | Other | 871.1 KB | 0a28eb05ca91 | | Carla-10Hz-mini/scene_Town07/10_camera_2.png | Other | 938.9 KB | 5ee63bc2c26c | | Carla-10Hz-mini/scene_Town07/10_camera_3.png | Other | 979.9 KB | 8824c246c229 | | Carla-10Hz-mini/scene_Town07/10_surround_lidar.ply | Other | 2.1 MB | — | | Carla-10Hz-mini/scene_Town07/11.npz | Other | 2.0 MB | b3c2d9664f6f | | Carla-10Hz-mini/scene_Town07/110.npz | Other | 2.7 MB | 2b3e2893b732 | | Carla-10Hz-mini/scene_Town07/110_bev.png | Other | 1.2 MB | 9ee7b2c70323 | | Carla-10Hz-mini/scene_Town07/110_camera_0.png | Other | 907.2 KB | bd54aa69a0ec | | Carla-10Hz-mini/scene_Town07/110_camera_1.png | Other | 905.5 KB | ac6138519f5e | | Carla-10Hz-mini/scene_Town07/110_camera_2.png | Other | 1.1 MB | 4058788ad490 | | Carla-10Hz-mini/scene_Town07/110_camera_3.png | Other | 1.0 MB | c5f422ad72ae | | Carla-10Hz-mini/scene_Town07/110_surround_lidar.ply | Other | 2.1 MB | — | | Carla-10Hz-mini/scene_Town07/111.npz | Other | 2.7 MB | f01b9b0319fe | | Carla-10Hz-mini/scene_Town07/111_bev.png | Other | 1.2 MB | c7cc2c5bbd65 | | Carla-10Hz-mini/scene_Town07/111_camera_0.png | Other | 902.0 KB | 9549f6b101bb | | Carla-10Hz-mini/scene_Town07/111_camera_1.png | Other | 902.8 KB | bf37727436b9 | | Carla-10Hz-mini/scene_Town07/111_camera_2.png | Other | 1.1 MB | aae6540a132d | | Carla-10Hz-mini/scene_Town07/111_camera_3.png | Other | 1.0 MB | d09d433e3cd4 | | Carla-10Hz-mini/scene_Town07/111_surround_lidar.ply | Other | 2.1 MB | — | | Carla-10Hz-mini/scene_Town07/112.npz | Other | 2.7 MB | d9e070ec9f19 | | Carla-10Hz-mini/scene_Town07/112_bev.png | Other | 1.2 MB | e4af02e99da6 | | Carla-10Hz-mini/scene_Town07/112_camera_0.png | Other | 898.0 KB | 76c6b48a7989 | | Carla-10Hz-mini/scene_Town07/112_camera_1.png | Other | 898.9 KB | 7416a2131a44 | | Carla-10Hz-mini/scene_Town07/112_camera_2.png | Other | 1.1 MB | faa53d7d92d2 | | Carla-10Hz-mini/scene_Town07/112_camera_3.png | Other | 1.0 MB | a34324356e8f | | Carla-10Hz-mini/scene_Town07/112_surround_lidar.ply | Other | 2.1 MB | — | | Carla-10Hz-mini/scene_Town07/113.npz | Other | 2.8 MB | af171c49e6d1 | | Carla-10Hz-mini/scene_Town07/113_bev.png | Other | 1.2 MB | bbfc5486b90f | | .gitattributes | Repository | 2.5 KB | — | ## License and Download License mit Access No access gate [Download from Trustworthy Autonomous Systems Laboratory](https://huggingface.co/datasets/tasl-lab/uniocc) Released by Trustworthy Autonomous Systems Laboratory through its official repository on Hugging Face. [Read the license](https://opensource.org/license/mit). ## Trustworthy Autonomous Systems Laboratory [All models and datasets](https://savrn.com/model-publishers/tasl-lab) ## Explore More - [The dataset directory](https://savrn.com/datasets) - [The model directory](https://savrn.com/models) - [Research papers](https://savrn.com/papers) ## Source - Repository metadata, read 2026-10-19. - [Hugging Face record](https://huggingface.co/datasets/tasl-lab/uniocc) - [How the hub is built](https://savrn.com/model-hub/methodology)