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Waymo Open

Benchmarks

Task NameDataset NameSOTA ResultTrend
3D Object DetectionWaymo Open 100% (val)
Vehicle AP (L1)82.1
36
3D Object DetectionWaymo Open single-frame (val)
Vehicle AP (L2)73.2
17
Object DetectionWaymo Open (test)
mAP0.331
15
Monocular depth estimationWaymo Open dataset
AbsRel0.095
15
3D Object DetectionWaymo Open Vehicle (val)
L1 AP@0.5 Overall12.35
10
Scene Flow EstimationWaymo Open
Threeway EPE0.041
10
Object TrackingWaymo Open (10-frame sequences)
CoM1.1
8
3D Object DetectionWaymo Open Moving objects (val)
Precision @ IoU=0.70.339
7
3D Object DetectionWaymo Open All objects (val)
Pr @ 0.735.5
7
Scene ReconstructionWaymo Open Single-Traversal
PSNR29.93
6
Novel View SynthesisWaymo Open (Single-Traversal)
PSNR28.91
6
Novel View SynthesisWaymo Open Dataset original-view dynamic-only (test)
PSNR24.3
6
Monocular SLAMWaymo Open (test)
Metric 1634531911.35
6
Surface ReconstructionWaymo Open Dataset static scenes
P->M Error (Seq 10061, m)0.18
6
Multi-object editingWaymo Open
PSNR18.71
6
View ExtrapolationWaymo Open Dataset
FID (side 2m)46.1
5
Multi-Object TrackingWaymo Open tracking (test)
MOTA (Level 1)51.2
5
3D Object DetectionWaymo Open Level 2 100% train (val)
Vehicle AP74.5
4
Novel view synthesisWaymo Open Dynamic-32
PSNR (Full Image)29.04
4
3D Object DetectionWaymo Open Vehicle Level 2 (test)
mAPH0.7783
4
Action-conditioned future predictionWaymo Open (val)
Trajectory Difference (Action-free)0.58
4
Lidar point cloud renderingWaymo Open Dataset
Depth Error0.01
2
Controlled Driving Video GenerationWaymo Open Dataset
PSNR29.49
2
Video Object DetectionWaymo Open dataset
AP (L1)64.53
2
Autonomous DrivingWaymo Open Dataset
Metric-
0
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