@article{freeocctrainingfreeembodiedopenvocabular,
  title = {FreeOcc: Training-Free Embodied Open-Vocabulary Occupancy Prediction},
  author = {Zeyu Jiang and Changqing Zhou and Xingxing Zuo and Changhao Chen},
  year = {2026},
  eprint = {2604.28115},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.28115},
}