Waymo Open Dataset
Benchmarks
Task NameDataset NameSOTA ResultTrendResults
Waymo Open Dataset 202 sequences (val)
88.19BEV mAP L1 Overall
5
Waymo Open Dataset
86.7Addition Rate: Vehicle
4
Waymo Open Dataset (val)
1.68GAE
4
Waymo Open Dataset (subset)
25FID
4
Waymo Open Dataset Unconditional
33Coverage (CD)
4
Waymo Open Dataset User Study
1Rank
4
Waymo Open Dataset (test)
28.8PSNR
4
Waymo Open Dataset (test)
31.9PSNR
4
Waymo Open Dataset (WOD) (val)
48.08Vehicle 3D AP@0.7 L1
4
Waymo Open Dataset (WOD) v1.0 (test)
52.53Vehicle AP@0.7 L1
4
Waymo Open Dataset (WOD) (val)
80.94L1 3D AP
4
Waymo Open Dataset v1.0 (test)
6.458Depth RMSE
4
Waymo Open Dataset (WOD) (val)
54.19Vehicle APH (L1, IoU=0.5)
4
Waymo Open Dataset (WOD) (val)
45.663D Recall (IoU=0.3)
4
Waymo Open Dataset (WOD) (val)
45.7AP70
4
Waymo Open Dataset 5 static scenes 10% unseen poses
29.96PSNR
4
Waymo Open Dataset (5 static scenes, 10% held-out frames)
31.52PSNR
4
Waymo Open Dataset
87.4SDE-APD
4
Waymo Open Dataset
0.874SDE-APD
4
Waymo Open Dataset (WOD) L2 (val)
0.561MOTA (Vehicle)
4
Waymo Open Dataset (WOD) L2 (test)
0.601MOTA
4
Waymo Open Dataset 1.0 (val)
82.96BEV mAP Overall
4
Waymo Open Dataset v1.0 (val)
70.33D mAP Overall
4
Waymo Open Dataset 85 synthesized corner-case scenarios
43.8Zone Hit Rate
3
Waymo Open Dataset (test)
83Vehicle Accuracy
3