{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/occupancy-anticipation-for-efficient","title":"Occupancy Anticipation for Efficient Exploration and Navigation","arxiv_id":"2008.09285","date":"2020-08-21","proceeding":"ECCV 2020 8","authors":["Santhosh K. Ramakrishnan","Ziad Al-Halah","Kristen Grauman"],"abstract":"State-of-the-art navigation methods leverage a spatial memory to generalize to new environments, but their occupancy maps are limited to capturing the geometric structures directly observed by the agent. We propose occupancy anticipation, where the agent uses its egocentric RGB-D observations to infer the occupancy state beyond the visible regions. In doing so, the agent builds its spatial awareness more rapidly, which facilitates efficient exploration and navigation in 3D environments. By exploiting context in both the egocentric views and top-down maps our model successfully anticipates a broader map of the environment, with performance significantly better than strong baselines. Furthermore, when deployed for the sequential decision-making tasks of exploration and navigation, our model outperforms state-of-the-art methods on the Gibson and Matterport3D datasets. Our approach is the winning entry in the 2020 Habitat PointNav Challenge. Project page: http://vision.cs.utexas.edu/projects/occupancy_anticipation/","url_abs":"https://arxiv.org/abs/2008.09285v2","url_pdf":"https://arxiv.org/pdf/2008.09285v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"occupancy-anticipation-for-efficient","repo_url":"https://github.com/facebookresearch/OccupancyAnticipation","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"decision-making","task_name":"Decision Making"},{"task_slug":"efficient-exploration","task_name":"Efficient Exploration"},{"task_slug":"robot-navigation","task_name":"Robot Navigation"},{"task_slug":"sequential-decision-making","task_name":"Sequential Decision Making"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[{"leaderboard":"/sota/robot-navigation-on-habitat-2020-point-nav","task":"Robot Navigation","dataset":"Habitat 2020 Point Nav test-std","model":"OccupancyAnticipation","rank_in_archive_order":3,"of":10,"metrics":{"DISTANCE_TO_GOAL":"2.567","SOFT_SPL":"0.473","SPL":"0.22","SUCCESS":"0.289"},"uses_additional_data":false}],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2008.09285","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2008.09285"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/facebookresearch/OccupancyAnticipation","reach":null}],"summary":{"ran_honours":1},"by_repo_kind":{"official":{"samples":1,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"1070c77228a269fa","entry":"colorize_ego_map","repo":"facebookresearch/OccupancyAnticipation","repo_kind":"official","path":"occant_baselines/generate_topdown_maps/generate_occant_gt_maps.py","file_url":"https://github.com/facebookresearch/OccupancyAnticipation/blob/HEAD/occant_baselines/generate_topdown_maps/generate_occant_gt_maps.py","link_basis":"first_harvest_node","language":"python","status":"ran_honours","verification_level":1,"contract_check":"HONOURS","metamorphic_tier":"invariant","behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"1070c77228a269fa"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}