3D Object Detection on Waymo Open Dataset Domain Adaptation from nuScenes and Lyft (val)
78.8mAP L1 (Car)Oracle
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| OracleSupervision=Fully Supervised Target2026.05 | 78.8 | 67.4 | 83.7 | 69.7 | 61.5 | 59.1 | 77.7 | 66.4 | 72.9 | 60.7 | 59.6 | 57.3 | |
| HSC-DCModule=Hierarchical Spatially-Conditioned Domain Classifiers2026.05 | 68.9 | 58.8 | 57.3 | 47.6 | 23 | 22.1 | 67.8 | 57.9 | 33.7 | 27.9 | 18.8 | 18.1 | |
| HSC-DC + PGW-MFModule=HSC-DC and Prototype Graph Weighted Multi-source Fusion2026.05 | 68.2 | 58.2 | 63.5 | 52.7 | 28 | 27 | 67.1 | 57.3 | 37 | 30.7 | 22.9 | 22 | |
| Pseudo labelStrategy=Pseudo labeling2026.05 | 67.4 | 57.5 | 54.7 | 45.4 | 20.7 | 19.9 | 66.2 | 56.5 | 32.6 | 27 | 17.7 | 17.1 | |
| Disentangle learningStrategy=Disentangle learning2026.05 | 66.9 | 57.1 | 54.7 | 45.4 | 20.4 | 19.6 | 65.8 | 56.2 | 32.2 | 26.7 | 15.2 | 14.6 | |
| Source Only (w/ PTDA)PTDA=true2026.05 | 63.8 | 54.5 | 53.2 | 44.1 | 20 | 19.2 | 62.4 | 53.2 | 30 | 24.9 | 15.3 | 14.7 |