UFMF: Radar-Guided Kinematic Priors for Real-Time 4D Occupancy Forecasting

UFMF (Ultra-Fast Multi-modal Forecaster) is a real‑time 4D occupancy forecasting model that uses a lightweight diagonal state‑space core and a radar‑guided velocity‑aware dynamic prior to predict future motion. The prior splits future displacement into a linear extrapolation and a learned residual, enabling per‑cell flow fields that carry a compact dynamic latent subspace during rollout. With auxiliary world‑frame dynamic supervision and class‑conditioned vertical‑profile supervision, UFMF achieves 122 FPS on an RTX 4090 and outperforms recent occupancy world models on nuScenes while using far less computational resources.

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• multimodal