Replica_OCC is a Replica-based occupancy benchmark constructed in the data organization style of EmbodiedOcc-ScanNet and OccScanNet. It provides RGB-D sequences and scene-level occupancy ground truth for evaluating embodied occupancy prediction systems.
Ground-truth occupancy and poses are intended for evaluation-time alignment and metric computation. They are not required for training FreeOcc and are not used for map construction.
