nuScenes
Benchmarks
Task NameDataset NameSOTA ResultTrendResults
nuScenes Singapore -> Boston 1.0 (test val)
61.4mIoU (Drivable Area)
6
nuScenes Boston -> Singapore 1.0 (test val)
59.1Drivable Area Score
6
nuScenes (val)
47.84Clean NDS
6
nuScenes v1.0-trainval (val)
2.75MMD
6
nuScenes 1 (val)
60.5Vehicle IoU
6
nuScenes
68.9mAP
6
nuScenes (val)
0.27MMD
6
Surround-nuScenes
33IoU
6
nuScenes (val)
93.8Average Accuracy
6
nuScenes frame=35
0.354Abs Rel
6
nuScenes frame=25
0.36Abs Rel
6
nuScenes T=5s horizon (closed-loop evaluation)
0.81CS Metric
6
nuScenes T=4s horizon (closed-loop evaluation)
0.89CS Score
6
nuScenes T=3s horizon (closed-loop evaluation)
100CS Score
6
nuScenes T=2s horizon (closed-loop evaluation)
0.81CS (Collision Score)
6
nuScenes T=1s horizon closed-loop evaluation
0.81Constraint Score (CS)
6
nuScenes static scenes
0.4Seq. 0034 P->M Error (m)
6
nuScenes 20% labeled frames v1.0 (trainval)
60.9NDS
6
nuScenes
63.1mRR
6
nuScenes-Occupancy 3D
21.28IoU (t=0)
6
nuScenes Occupancy
20.21IoU_f (3D) @ 0.5s
6
nuScenes to Waymo v1.0 (val)
0.649NDS*
6
nuScenes to Waymo Cross-domain
0.603NDS (Source)
6
nuScenes Dense Depth GT (val)
0.228Abs Rel
6
RotnuScenes
51.9Recall (Normal Precision)
6