S2GO: Streaming Sparse Gaussian Occupancy — ICLR 2026 Publication
S2GO (Streaming Sparse Gaussian Occupancy) is a new approach to 3D scene understanding that builds a lightweight, streaming 3D occupancy map using a small set of learned 3D queries that evolve over time. It maintains a compact query-based world state, enabling dense, high-quality occupancy prediction up to 5.9× faster than prior methods and supporting long-horizon, camera-only, real-time perception. This blog post explains the motivation, method, and integration of S2GO into modern autonomy stacks.
February 19, 2026
Technology