@article{liu2026occsim,
  title = {OccSim: Multi-kilometer Simulation with Long-horizon Occupancy World Models},
  author = {Liu, Tianran and Zhao, Shengwen and Pourkeshavarz, Mozhgan and Li, Weican and Rhinehart, Nicholas},
  journal = {arXiv preprint arXiv:2603.28887},
  year = {2026},
  doi = {10.48550/arXiv.2603.28887},
  url = {https://arxiv.org/abs/2603.28887}
}