Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating a future occupancy prediction for a region of an environment. In one aspect, a method comprises: receiving sensor data generated by a sensor system of a vehicle that characterizes an environment in a vicinity of the vehicle as of a current time point, wherein the sensor data comprises a plurality of sensor samples characterizing the environment that were each captured at different time points; processing a network input comprising the sensor data using a neural network to generate an occupancy prediction output for a region of the environment, wherein: the occupancy prediction output characterizes, for one or more future intervals of time after the current time point, a respective likelihood that the region of the environment will be occupied by an agent in the environment during the future interval of time.