@article{occsimmultikilometersimulationwithlongho,
  title = {OccSim: Multi-kilometer Simulation with Long-horizon Occupancy World Models},
  author = {Tianran Liu and Shengwen Zhao and Mozhgan Pourkeshavarz and Weican Li and Nicholas Rhinehart},
  year = {2026},
  eprint = {2603.28887},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.28887},
}