Master Thesis Vision-Centric 4D Occupancy World Model (all genders)

How can robots learn to understand and predict the future 3D world from vision alone? World models are emerging as a key paradigm in robotics, enabling intelligent systems to reason about how their surroundings evolve over time. This capability is particularly important for dynamic robotic applications, such as autonomous vehicles, where anticipating future scene geometry, semantics, and motion is essential for safe interaction and decision-making. Semantic 4D occupancy provides a structured representation of this evolving 3D world by jointly modeling scene geometry, semantics, and dynamics.

A major challenge, however, is supervision: current occupancy models often rely on expensive, densely annotated 3D voxel data, which is difficult to obtain and scale. 

In this Master’s thesis, you will investigate how vision foundation models such as DINOv2, CLIP, or SAM can act as scalable semantic teachers for a vision-centric occupancy world model. By transferring rich semantic knowledge from pre-trained 2D models into spatio-temporal 3D/4D representations, the goal is to reduce the reliance on dense 3D annotations while maintaining accurate future scene prediction.

You will develop and evaluate a foundation-model-guided predictive occupancy world model using multi-view camera sequences. The thesis will explore semantic feature alignment and knowledge distillation, with the goal of enabling scalable 4D occupancy forecasting for dynamic robotic environments, such as autonomous driving.

• Develop a vision-centric occupancy world model based on Transformer architectures for predicting future semantic 4D occupancy from sequential multi-view camera inputs.
• Build and train the PyTorch pipeline, designing alignment mechanisms to distill semantic features from 2D foundation models into your 4D spatio-temporal world representation.
• Benchmark against fully-supervised baselines on large-scale datasets (e.g., nuScenes), focusing on forecasting accuracy (IoU), semantic precision, and label efficiency.

• You are registered in a master’s program in computer science, artificial intelligence, robotics, or a related field.
• You have excellent programming skills in Python as well as solid experience with deep learning frameworks (especially PyTorch).
• You have a solid background in 3D computer vision. Practical experience with semantic segmentation, occupancy networks, or 3D Gaussian splatting is a major plus.
• You have knowledge of Vision Transformers (ViT), Foundation Models (DINO, CLIP), and paradigms of self- and weakly-supervised learning.
• You work independently and are solution-oriented, highly motivated, and have very good German and English skills (at least C1 level) to ensure clear and confident communication within the team and with our partners.

New Work & Culture

• Self-organized teams with plenty of creative freedom
• Responsibility and the opportunity to shape the work
• An open culture of learning from mistakes and giving feedback

Mentoring & Personal Development

• Individual mentoring from day one
• Regular development reviews (catch-ups)
• Leadership on a equal footing, based on trust and respect

Lifelong Learning

• Technical and cross-functional training
• Internal TechTalks, external training courses, and conferences

High-End Software Engineering

• Challenging, innovative, and diverse projects
• Cross-functional teams using modern technologies
• A culture of expertise and cross-team knowledge sharing

Family-Friendly Environment

• Subsidy for childcare costs of up to 250 € per child
• Continued pay for days when children are sick

Community & Events

• Regular events (e.g., retreats, summer festivals)
• Personal interactions & team cohesion
• Part of a diverse, connected community from Day 1

Work Hours & Flexibility

• Freedom to choose work hours and location
• Flexible work time accounts, 30 days of vacation, part-time option, sabbatical & workation
  

Health & Well-being

• Mental Health Task Force
• JobRad & other benefits

Diversity & Inclusion

• Diversity Task Force for a diversity of perspectives
• Culture of belonging: Everyone should feel accepted

Daniela
+49 821 885882-0
work@xitaso.com