nuScenes
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| 3D Object Detection | nuScenes (val) | NDS78.2 | 981 | |
| 3D Object Detection | nuScenes (test) | mAP76.5 | 903 | |
| Semantic Segmentation | nuScenes (val) | mIoU (Segmentation)81.2 | 323 | |
| 3D object detection | nuScenes v1.0 (test) | mAP77.9 | 230 | |
| Open-loop planning | nuScenes (val) | L2 Error (3s)0.1 | 225 | |
| 3D Object Detection | nuScenes (val) | NDS76.7 | 217 | |
| 3D Object Detection | nuScenes v1.0 (val) | mAP (Overall)71.2 | 207 | |
| LiDAR Semantic Segmentation | nuScenes official (test) | mIoU84.6 | 196 | |
| 3D Object Detection | nuScenes v1.0-trainval (val) | NDS73.86 | 182 | |
| LiDAR Semantic Segmentation | nuScenes (val) | mIoU82 | 169 | |
| 3D Multi-Object Tracking | nuScenes (val) | AMOTA77.1 | 144 | |
| 3D Multi-Object Tracking | nuScenes (test) | ID Switches93 | 139 | |
| Open-loop planning | nuScenes | L2 Error (Avg)0.26 | 121 | |
| Planning | nuScenes (val) | Collision Rate (Avg)0.07 | 97 | |
| Vectorized HD Map Construction | nuScenes v1.0-trainval (val) | mAP73.8 | 84 | |
| Semantic Segmentation | nuScenes 1.0 (val) | mIoU80.4 | 81 | |
| Semantic Segmentation | nuScenes (test) | mIoU85.1 | 81 | |
| Video Generation | nuScenes (val) | FVD31.84 | 72 | |
| Open-loop planning | nuScenes v1.0 (val) | L2 (1s)0.11 | 71 | |
| 3D Object Detection Classification Calibration | nuScenes v1.0-trainval (val) | NDS63.81 | 68 | |
| Vectorized Map Construction | nuScenes v1.0 (val) | AP (Divider)74.4 | 64 | |
| Trajectory Planning | NuScenes | L2 Error (m) (1s)0.1 | 58 | |
| 3D Semantic Segmentation | nuScenes (test) | mIoU84.6 | 56 | |
| Panoptic Segmentation | nuScenes (val) | PQ72.3 | 56 | |
| BEV Semantic Segmentation | nuScenes (val) | Drivable Area IoU85.5 | 55 |
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