# 3D Human Keypoint Estimation on Waymo Open Dataset (WOD) (100% train)

Source: [3D Human Keypoint Estimation on Waymo Open Dataset (WOD) (100% train)](<https://www.sota2.com/research/sota/3d-human-keypoint-estimation-on-waymo-open-dataset-wod-100-percent-train>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T05:50:13.144Z

Evaluation of 3D Human Keypoint Estimation performance on the full 100% training split of the Waymo Open Dataset (WOD).

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | 3D Human Keypoint Estimation |
| Dataset (including any stated split) | Waymo Open Dataset (WOD) (100% train) |
| Metric | MPJPE (cm) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 5 of 5 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [MPJPE (cm)](<https://www.sota2.com/research/sota/3d-human-keypoint-estimation-on-waymo-open-dataset-wod-100-percent-train.md?metric=MPJPE%20(cm)>): Lower is better; unit: SCALAR.

- [Gain](<https://www.sota2.com/research/sota/3d-human-keypoint-estimation-on-waymo-open-dataset-wod-100-percent-train.md?metric=Gain>): Higher is better; unit: SCALAR.

## Recorded results

| Method | MPJPE (cm) | Result date | Report paper |
| --- | --- | --- | --- |
| GC-KPL | 10.1 | Not recorded | 68fa6f9e1e209131cea46a9e |
| GC-KPL | 10.6 | Not recorded | 68fa6f9e1e209131cea46a9e |
| GC-KPL | 10.73 | Not recorded | 68fa6f9e1e209131cea46a9e |
| GC-KPL | 11.27 | Not recorded | 68fa6f9e1e209131cea46a9e |
| HUM3DIL | 12.21 | Not recorded | 68fa6f9e1e209131cea46a9e |

### GC-KPL

MPJPE (cm): 10.1. Result ID: 6990e3fc3a6c314849041234.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f9e1e209131cea46a9e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f9e1e209131cea46a9e.md>)

Recorded evaluation configuration: {"Backbone":"Pre-trained on 200,000 WOD-train","Stage I supervised":true}. This record does not assert independent reproduction.

### GC-KPL

MPJPE (cm): 10.6. Result ID: 6990e3fc3a6c314849041233.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f9e1e209131cea46a9e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f9e1e209131cea46a9e.md>)

Recorded evaluation configuration: {"Backbone":"Pre-trained on 200,000 WOD-train","Stage I supervised":false}. This record does not assert independent reproduction.

### GC-KPL

MPJPE (cm): 10.73. Result ID: 6990e3fc3a6c314849041232.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f9e1e209131cea46a9e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f9e1e209131cea46a9e.md>)

Recorded evaluation configuration: {"Backbone":"Pre-trained on 5,000 WOD-train","Stage I supervised":false}. This record does not assert independent reproduction.

### GC-KPL

MPJPE (cm): 11.27. Result ID: 6990e3fc3a6c314849041231.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f9e1e209131cea46a9e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f9e1e209131cea46a9e.md>)

Recorded evaluation configuration: {"Backbone":"Pre-trained on synthetic only","Stage I supervised":false}. This record does not assert independent reproduction.

### HUM3DIL

MPJPE (cm): 12.21. Result ID: 6990e3fc3a6c314849041230.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f9e1e209131cea46a9e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6e3a1e209131cea3e7c9.md>)

Recorded evaluation configuration: {"Backbone":"Randomly initialized","Stage I supervised":false}. This record does not assert independent reproduction.

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