3D Object Detection on nuScenes (val) (Specific Robustness Tests)
72.1mAP (Clean)MoME
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| MoMEreproduced=true2026.03 | 72.1 | 74.4 | 23.1 | 41.4 | 60 | 66.8 | 61.2 | 67.6 | 52.6 | 60.2 | 50.7 | 62.7 | 44.6 | 59.5 | 64.1 | 69.7 | 63.8 | 69.8 | |
| SparseFusionreproduced=true2026.03 | 70.5 | 72.5 | 5.2 | 23.3 | 68.2 | 71.2 | 32.4 | 50.8 | 47.2 | 56.1 | 60.4 | 66.9 | 55.9 | 64.4 | 64.4 | 70.7 | 55.4 | 63.8 | |
| CMTreproduced=true2026.03 | 70.1 | 72.9 | 32.6 | 45.7 | 58.5 | 65.2 | 60.7 | 67 | 50.1 | 58 | 58.9 | 66.6 | 55.4 | 64.3 | 64.1 | 70.2 | 62 | 68.6 | |
| BEVFusion + PFS2026.03 | 69.5 | 71.2 | 17.5 | 27.1 | 53.4 | 60.6 | 56.9 | 63.2 | 47.5 | 55.5 | 63.6 | 68.3 | 63.2 | 64.9 | 65.3 | 69 | 63.8 | 68.7 | |
| BEVFusionreproduced=true2026.03 | 69.2 | 59.7 | 12.1 | 24.8 | 52.6 | 50 | 54.7 | 52.4 | 46.8 | 44.1 | 60 | 55 | 58.8 | 54.4 | 64.6 | 57.3 | 62.6 | 56.3 | |
| DeepInteractionreproduced=true2026.03 | 68.9 | 58.3 | 7.74 | 22.6 | 49.9 | 47.84 | 53.6 | 50.2 | 45.2 | 42 | 54.4 | 49.1 | 58.8 | 51.6 | 59.5 | 52.7 | 53.7 | 47.3 | |
| UniBEVreproduced=true2026.03 | 65.3 | 57.2 | 25.6 | 29.9 | 53.2 | 50 | 56.5 | 52.2 | 48 | 45.1 | 56.5 | 52.8 | 55.4 | 52.3 | 61.5 | 55.5 | 56.7 | 53.1 | |
| UniBEV + PFS2026.03 | 65.3 | 57.2 | 33.8 | 35.5 | 53.4 | 50.1 | 60.7 | 66.5 | 52.9 | 59.4 | 58.1 | 62.8 | 58.9 | 60.9 | 64.7 | 63.6 | 58.4 | 64 |