# 3D Object Detection on Waymo L1 Open Dataset (val) Source: [3D Object Detection on Waymo L1 Open Dataset (val)]() Collection index: [llms.txt]() Data updated: 2026-03-31T11:35:59.418Z Evaluation of 3D Object Detection performance on the validation split of the Waymo L1 Open Dataset, reporting class-specific AP and APH metrics. 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 Object Detection | | Dataset (including any stated split) | Waymo L1 Open Dataset (val) | | Metric | mAP | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 8 of 8 | | 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 - [mAP](): Higher is better; unit: PERCENT. - [mAPH](): Higher is better; unit: PERCENT. - [AP (Vehicle)](): Higher is better; unit: PERCENT. - [APH (Vehicle)](): Higher is better; unit: PERCENT. - [AP (Pedestrian)](): Higher is better; unit: PERCENT. - [APH (Pedestrian)](): Higher is better; unit: PERCENT. - [AP (Cyclist)](): Higher is better; unit: PERCENT. - [APH (Cyclist)](): Higher is better; unit: PERCENT. ## Recorded results | Method | mAP | Result date | Report paper | | --- | --- | --- | --- | | FASD | 81.43 | Not recorded | 68fa74e01e209131cea64621 | | FASD | 81.21 | Not recorded | 68fa74e01e209131cea64621 | | VoxelMamba | 80.99 | Not recorded | 68fa74e01e209131cea64621 | | SAFDNet | 80 | Not recorded | 68fa74e01e209131cea64621 | | DSVT | 79.02 | Not recorded | 68fa74e01e209131cea64621 | | PV-RCNN++ | 78.1 | Not recorded | 68fa74e01e209131cea64621 | | VoxelNext | 76.9 | Not recorded | 68fa74e01e209131cea64621 | | CenterPoint | 72.77 | Not recorded | 68fa74e01e209131cea64621 | ### FASD mAP: 81.43. Result ID: 69cbb18547f34ce924b4f527. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Type":"Student","Block":"Mamba"}. This record does not assert independent reproduction. ### FASD mAP: 81.21. Result ID: 69cbb18547f34ce924b4f526. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Type":"Teacher","Block":"Transformer"}. This record does not assert independent reproduction. ### VoxelMamba mAP: 80.99. Result ID: 69cbb18547f34ce924b4f525. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### SAFDNet mAP: 80. Result ID: 69cbb18547f34ce924b4f524. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### DSVT mAP: 79.02. Result ID: 69cbb18547f34ce924b4f523. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### PV-RCNN++ mAP: 78.1. Result ID: 69cbb18547f34ce924b4f522. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### VoxelNext mAP: 76.9. Result ID: 69cbb18547f34ce924b4f521. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### CenterPoint mAP: 72.77. Result ID: 69cbb18547f34ce924b4f520. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.