3D Occupancy Prediction on Occ3D Waymo (val) benchmark leaderboard · SOTA2 Research

3D Occupancy Prediction on Occ3D Waymo (val)

45.13mIoUDAOcc

Evaluation Results

Method	Links
DAOcc2024.09		45.13	8.15	65.9	54.4	43.36	52.86	32.93	47.54	33.54	32.29	0.67	57.49	60.56	42.86	79.78	64.69	—	—
DAOcc2024.09		44.69	7.64	65.6	54.05	43.71	52.78	32.05	46.96	32.68	31.68	0.68	55.94	60.19	42.59	79.62	64.09	—	—
BEVFormer-Fusion2024.09		39.05	5.11	64.61	52.35	21.52	32.74	17.1	42.62	27.75	13.36	0.05	63.65	60.51	35.64	81.89	66.84	—	—
FDR2026.07		31.25	9.03	42.74	25.38	27.52	22.91	21.47	27.84	22.65	20.69	—	39.98	38.89	24.02	81.21	—	—	64.46
ALOcc-3D2026.07		30.03	6.51	39.61	20.56	24.14	20.84	20.56	24.28	17.95	12.22	—	35.67	37.25	22.45	78.42	—	—	59.91
LiDAR-Only2024.09		29.74	1.01	57.41	35.31	20.33	11.7	13.01	36.21	7.81	0.13	0	57.83	54.71	27.07	69.15	54.47	—	—
CVT-Occ2026.07		27.37	7.44	41	20.81	23.93	11.92	12.07	18.03	16.88	21.37	—	29.4	27.42	14.67	79.12	—	—	59.09
BEVFormer-WrapConcat2026.07		25.07	6.2	36.17	20.58	20.95	9.56	12.82	16.24	14.31	16.78	—	25.14	23.56	12.81	79.04	—	—	56.83
SOLOFusion2026.07		24.73	4.97	32.45	17.14	18.28	10.33	8.07	17.83	16.23	19.3	—	31.49	28.98	16.93	70.95	—	—	53.28
BEVFormer2026.07		24.58	7.18	36.06	20.23	21	9.76	12.61	14.52	14.7	16.06	—	23.98	22.5	9.39	79.11	—	—	57.04
BEVFormer-w/o TSA2026.07		23.87	7.5	34.54	20.96	21.07	9.69	11.48	11.48	14.06	14.51	—	23.14	21.82	8.57	78.45	—	—	56.89
BePo2025.06		23.71	7.79	33.12	25.41	26.18	17.78	12.91	15.71	13.12	19.21	70	21.32	20.79	8.11	79.54	54.07	26.7	—
ODG2024.09		21.35	5.09	31.34	22.4	19.06	15.24	6.09	12.51	12.77	13.59	0	21.49	17.89	8.37	78.19	56.28	—	—
ODG2025.06		21.35	5.09	31.34	22.4	19.06	15.24	6.09	12.51	12.77	13.59	0	21.49	17.89	8.37	78.19	56.28	25.9	—
OPUS2024.09		19	4.66	27.07	19.39	6.53	18.66	6.41	11.44	10.4	12.9	0	18.73	18.11	7.46	72.86	50.31	—	—
OPUS2025.06		19	4.66	27.07	19.39	6.53	18.66	6.41	11.44	10.4	12.9	0	18.73	18.11	7.46	72.86	50.31	24.7	—
CTF-Occ2024.09		18.73	6.26	28.09	14.66	8.22	15.44	10.53	11.78	13.62	16.45	0.65	18.63	17.3	8.29	67.99	42.98	—	—
CTF-Occ2025.06		18.73	6.26	28.09	14.66	8.22	15.44	10.53	11.78	13.62	16.45	65	18.63	17.3	8.29	67.99	42.98	—	—
TPVFormer2024.09		16.76	3.89	17.86	12.03	5.67	13.64	8.49	8.9	9.95	14.79	0.32	13.82	11.44	5.8	73.3	51.49	—	—
BEVFormer2024.09		16.76	3.48	17.18	13.87	5.9	13.84	2.7	9.82	12.2	13.99	0	13.38	11.66	6.73	74.97	51.61	—	—
BEVFormer2025.06		16.76	3.48	17.18	13.87	5.9	13.84	2.7	9.82	12.2	13.99	0	13.38	11.66	6.73	74.97	51.61	—	—
TPVFormer2025.06		16.76	3.89	17.86	12.03	5.67	13.64	8.49	8.9	9.95	14.79	32	13.82	11.44	5.8	73.3	51.49	—	—
BEVDet2024.09		9.88	0.13	13.06	2.17	10.15	7.8	5.85	4.62	0.94	1.49	0	7.27	10.06	2.35	48.15	34.12	—	—
BEVDet2025.06		9.88	0.13	13.06	2.17	10.15	7.8	5.85	4.62	0.94	1.49	0	7.27	10.06	2.35	48.15	34.12	—	—