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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
Interactive Motion ForecastingWaymo Open Motion (test)
mAP25.19
13
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
Multi-weather editingWaymo Open Dataset
CLIP-S0.872
5
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
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