@article{occstepbenchmarking4doccupancyspatiotemp,
  title = {OccSTeP: Benchmarking 4D Occupancy Spatio-Temporal Persistence},
  author = {Yu Zheng and Jie Hu and Kailun Yang and Jiaming Zhang},
  year = {2025},
  eprint = {2512.15621},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2512.15621},
}