3D Object Detection on nuScenes-C (val)
67.12mAP (Snow)RoboFusion
Evaluation results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RoboFusionModality=Camera-LiDAR Fusion2026.02 | 67.12 | 69.91 | 67.58 | 67.01 | 67.24 | 69.48 | 69.18 | 68.68 | 39.48 | 57.77 | 64.57 | 65.64 | 66.73 | 65.77 | 64.82 | 41.88 | 67.21 | 66.74 | 66.82 | 65.08 | 66.71 | 66.53 | 63.9 | 8.58 | |
| BEVFusion + PFSModality=LC2026.03 | 65.5 | — | — | 67.9 | 65.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MambaFusionModality=Camera-LiDAR Fusion2026.02 | 65.2 | 74.9 | 69.3 | 66.5 | 68 | 74.6 | 74.3 | 74.9 | 46 | 62.5 | 69 | 70 | 74.6 | 74.2 | 73.8 | 51 | 73.8 | 71.2 | 70.8 | 69.5 | 68.8 | 68.3 | 68.5 | 8.55 | |
| UniBEV + PFSModality=LC2026.03 | 63.6 | — | — | 65.7 | 61.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MoMEModality=LC2026.03 | 63.5 | — | — | 67.9 | 65.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TransFusionModality=Camera-LiDAR Fusion2026.02 | 63.3 | 66.38 | 65.35 | 53.67 | 55.14 | 65.77 | 63.66 | 64.67 | 24.63 | 55.1 | 64.72 | 65.51 | 64.52 | 65.26 | 64.37 | 9.01 | 64.39 | 65.65 | 63.33 | 63.76 | 66.2 | 66.29 | 58.77 | 11.45 | |
| TransfusionModality=LC2026.03 | 63.3 | — | — | 53.7 | 55.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEVFusionModality=Camera-LiDAR Fusion2026.02 | 62.84 | 68.45 | 66.13 | 54.1 | 64.42 | 67.79 | 66.18 | 67.32 | 27.17 | 60.64 | 66.81 | 67.54 | 64.44 | 65.81 | 64.3 | 27.57 | 64.74 | 67.42 | 63.41 | 64.34 | 67.58 | 67.91 | 61.35 | 10.36 | |
| BEVFusionModality=LC2026.03 | 62.8 | — | — | 54.1 | 64.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CMTModality=LC2026.03 | 62.6 | — | — | 66.3 | 63.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepInteractionModality=LC2026.03 | 62.4 | — | — | 54.8 | 64.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CenterPtModality=LiDAR-Only2026.02 | 55.9 | 59.28 | 56.08 | 43.78 | 54.2 | 58.6 | 56.28 | 56.64 | 20.84 | 45.79 | 56.12 | 57.67 | — | — | — | 11.02 | — | 57.55 | 48.36 | 51.13 | 57.87 | 58.49 | 49.78 | 16.01 | |
| CenterPointModality=L2026.03 | 55.9 | — | — | 43.8 | 54.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FUTR3DModality=Camera-LiDAR Fusion2026.02 | 52.73 | 64.17 | 58.4 | 53.19 | 57.7 | 63.72 | 62.25 | 62.66 | 26.32 | 58.94 | 63.21 | 63.43 | 54.96 | 57.61 | 55.16 | 31.87 | 55.99 | 63.6 | 61.85 | 62.94 | 64.09 | 64.02 | 56.88 | 11.34 | |
| FUTR3DModality=LC2026.03 | 52.7 | — | — | 53.2 | 57.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSNModality=L2026.03 | 46.4 | — | — | 41.6 | 40.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPillarsModality=L2026.03 | 27.6 | — | — | 24.5 | 23.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PtPillarsModality=LiDAR-Only2026.02 | 27.57 | 27.69 | 27.71 | 24.49 | 23.71 | 27.27 | 24.14 | 25.92 | 8.87 | 19.41 | 25.6 | 26.44 | — | — | — | 3.85 | — | 26.7 | 17.97 | 25.93 | 27.69 | 27.67 | 22.99 | 16.95 | |
| BEVFormerModality=Camera-Only2026.02 | 5.73 | 41.65 | 24.97 | 32.76 | 41.68 | — | — | — | — | — | — | — | 15.04 | 23 | 13.99 | — | 19.79 | — | — | — | — | — | 22.12 | 46.89 | |
| BEVFormerModality=C2026.03 | 5.7 | — | — | 32.8 | 41.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DETR3DModality=C2026.03 | 5.1 | — | — | 27.9 | 41.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DETR3DModality=Camera-Only2026.02 | 5.08 | 34.71 | 20.39 | 27.89 | 34.66 | — | — | — | — | — | — | — | 14.86 | 21.49 | 14.32 | — | 11.06 | — | — | — | — | — | 18.71 | 46.07 | |
| PGDModality=C2026.03 | 2.3 | — | — | 12.8 | 22.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCOS3DModality=C2026.03 | 2 | — | — | 13.5 | 17.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |