---
license: other
license_name: nuscenes-terms-of-use
license_link: https://www.nuscenes.org/terms-of-use
tags:
  - occupancy-prediction
  - open-vocabulary
  - autonomous-driving
  - nuscenes
---

# AGO: Adaptive Grounding for Open World 3D Occupancy Prediction

Pretrained weights for [AGO](https://github.com/EdwardLeeLPZ/AGO) (ICCV 2025) on Occ3D-nuScenes. Paper: [arXiv:2504.10117](https://arxiv.org/abs/2504.10117).

## Weights

Each file contains the model `state_dict`. The CLIP weights are not included and are loaded from FeatUp at runtime.

| File | Config | Known mIoU / Unknown mIoU / mIoU |
| :--- | :--- | :-: |
| `ago_nuscenes_self_supervised.pth` | `ago_nuscenes_self_supervised.py` | - / - / 19.16 |
| `ago_nuscenes_open_world_pretraining.pth` | `ago_nuscenes_open_world_pretraining.py` | 23.23 / 0.00 / 11.61 |
| `ago_nuscenes_open_world_pretraining.pth` (zero-shot) | `ago_nuscenes_open_world_pretraining.py` | 33.95 / 0.42 / 7.13 |
| `ago_nuscenes_open_world_finetuning.pth` | `ago_nuscenes_open_world_finetuning.py` | 36.88 / 8.78 / 14.40 |

## Usage

```shell
hf download EdwardLeeLPZ/AGO --include "*.pth" --local-dir checkpoints
bash tools/dist_test.sh projects/configs/ago_nuscenes_self_supervised.py checkpoints/ago_nuscenes_self_supervised.pth 8 --tag self_supervised
```

See the [code repository](https://github.com/EdwardLeeLPZ/AGO) for installation and data preparation.

## License

The weights are trained on nuScenes and subject to the [nuScenes terms of use](https://www.nuscenes.org/terms-of-use).

## Citation

```
@inproceedings{li2025ago,
  title={AGO: Adaptive Grounding for Open World 3D Occupancy Prediction},
  author={Li, Peizheng and Ding, Shuxiao and Zhou, You and Zhang, Qingwen and Inak, Onat and Triess, Larissa and Hanselmann, Niklas and Cordts, Marius and Zell, Andreas},
  booktitle={Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)},
  pages={8645--8655},
  year={2025}
}
```