# 3D Semantic Occupancy Prediction on nuScenes 1.0 (val) Source: [3D Semantic Occupancy Prediction on nuScenes 1.0 (val)]() Collection index: [llms.txt]() Data updated: 2026-03-09T08:17:46.184Z Evaluation of 3D Semantic Occupancy Prediction performance on the validation split of the nuScenes 1.0 dataset, reporting per-class IoU and overall mIoU. 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 Semantic Occupancy Prediction | | Dataset (including any stated split) | nuScenes 1.0 (val) | | Metric | IoU (barrier) | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 31 of 31 | | 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 - [IoU (barrier)](): Higher is better; unit: PERCENT. - [IoU](): Higher is better; unit: PERCENT. - [mIoU](): Higher is better; unit: PERCENT. - [IoU (bicycle)](): Higher is better; unit: PERCENT. - [IoU (bus)](): Higher is better; unit: PERCENT. - [IoU (car)](): Higher is better; unit: PERCENT. - [IoU (const. veh.)](): Higher is better; unit: PERCENT. - [IoU (motorcycle)](): Higher is better; unit: PERCENT. - [IoU (pedestrian)](): Higher is better; unit: PERCENT. - [IoU (traffic cone)](): Higher is better; unit: PERCENT. - [IoU (trailer)](): Higher is better; unit: PERCENT. - [IoU (truck)](): Higher is better; unit: PERCENT. - [IoU (drive. suf.)](): Higher is better; unit: PERCENT. - [IoU (other flat)](): Higher is better; unit: PERCENT. - [IoU (sidewalk)](): Higher is better; unit: PERCENT. - [IoU (terrain)](): Higher is better; unit: PERCENT. - [IoU (manmade)](): Higher is better; unit: PERCENT. - [IoU (vegetation)](): Higher is better; unit: PERCENT. - [IoU (SC)](): Higher is better; unit: PERCENT. - [mIoU (SSC)](): Higher is better; unit: PERCENT. ## Recorded results | Method | IoU (barrier) | Result date | Report paper | | --- | --- | --- | --- | | GaussianFormer-2 | 21.39 | Not recorded | 68fa76121e209131cea6b3ec | | GaussianWorld | 21.38 | Not recorded | 68fa763c1e209131cea6c053 | | GaussianFormer-T | 20.82 | Not recorded | 68fa763c1e209131cea6c053 | | VG3S | 20.78 | Not recorded | 69ae53e42d603e6de3e4292c | | SurroundOcc | 20.59 | Not recorded | 68fa76121e209131cea6b3ec | | SurroundOcc | 20.59 | Not recorded | 68fa763c1e209131cea6c053 | | SurroundOcc | 20.59 | Not recorded | 69ae53e42d603e6de3e4292c | | GaussianFormer-2 | 20.15 | Not recorded | 68fa76121e209131cea6b3ec | | GaussianFormer-2 | 20.15 | Not recorded | 69ae53e42d603e6de3e4292c | | GaussianFormer | 19.52 | Not recorded | 68fa76121e209131cea6b3ec | | GaussianFormer | 19.52 | Not recorded | 68fa763c1e209131cea6c053 | | GaussianFormer | 19.52 | Not recorded | 69ae53e42d603e6de3e4292c | | GaussianFormer-B | 19.36 | Not recorded | 68fa763c1e209131cea6c053 | | OccFormer | 18.65 | Not recorded | 68fa76121e209131cea6b3ec | | OccFormer | 18.65 | Not recorded | 68fa763c1e209131cea6c053 | | OccFormer | 18.65 | Not recorded | 69ae53e42d603e6de3e4292c | | TPVFormer | 16.14 | Not recorded | 68fa76121e209131cea6b3ec | | TPVFormer | 16.14 | Not recorded | 68fa763c1e209131cea6c053 | | TPVFormer | 16.14 | Not recorded | 69ae53e42d603e6de3e4292c | | TPVFormer | 15.96 | Not recorded | 68fa76121e209131cea6b3ec | | TPVFormer\* | 15.96 | Not recorded | 68fa763c1e209131cea6c053 | | TPVFormer | 15.96 | Not recorded | 69ae53e42d603e6de3e4292c | | BEVFormer | 14.22 | Not recorded | 68fa76121e209131cea6b3ec | | BEVFormer | 14.22 | Not recorded | 68fa763c1e209131cea6c053 | | BEVFormer | 14.22 | Not recorded | 69ae53e42d603e6de3e4292c | | Atlas | 10.64 | Not recorded | 68fa76121e209131cea6b3ec | | Atlas | 10.64 | Not recorded | 68fa763c1e209131cea6c053 | | Atlas | 10.64 | Not recorded | 69ae53e42d603e6de3e4292c | | MonoScene | 4.03 | Not recorded | 68fa76121e209131cea6b3ec | | MonoScene | 4.03 | Not recorded | 68fa763c1e209131cea6c053 | | MonoScene | 4.03 | Not recorded | 69ae53e42d603e6de3e4292c | ### GaussianFormer-2 IoU (barrier): 21.39. Result ID: 69940fd23a6c3148491ac410. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Channel dimension (Ch.)":"192"}. This record does not assert independent reproduction. ### GaussianWorld IoU (barrier): 21.38. Result ID: 69942be13a6c3148491b8dba. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GaussianFormer-T IoU (barrier): 20.82. Result ID: 69942be13a6c3148491b8db9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Mode":"temporal fusion"}. This record does not assert independent reproduction. ### VG3S IoU (barrier): 20.78. Result ID: 69ae82156dbb7075b9569152. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Venue":"Ours"}. This record does not assert independent reproduction. ### SurroundOcc IoU (barrier): 20.59. Result ID: 69940fd23a6c3148491ac40d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### SurroundOcc IoU (barrier): 20.59. Result ID: 69942be13a6c3148491b8db7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### SurroundOcc IoU (barrier): 20.59. Result ID: 69ae82156dbb7075b956914f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Venue":"ICCV 2023"}. This record does not assert independent reproduction. ### GaussianFormer-2 IoU (barrier): 20.15. Result ID: 69940fd23a6c3148491ac40f. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Channel dimension (Ch.)":"128"}. This record does not assert independent reproduction. ### GaussianFormer-2 IoU (barrier): 20.15. Result ID: 69ae82156dbb7075b9569151. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Venue":"CVPR 2025","feature dimension":"128-channel"}. This record does not assert independent reproduction. ### GaussianFormer IoU (barrier): 19.52. Result ID: 69940fd23a6c3148491ac40e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GaussianFormer IoU (barrier): 19.52. Result ID: 69942be13a6c3148491b8db6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GaussianFormer IoU (barrier): 19.52. Result ID: 69ae82156dbb7075b9569150. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Venue":"ECCV 2024"}. This record does not assert independent reproduction. ### GaussianFormer-B IoU (barrier): 19.36. Result ID: 69942be13a6c3148491b8db8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Mode":"single-frame"}. This record does not assert independent reproduction. ### OccFormer IoU (barrier): 18.65. Result ID: 69940fd23a6c3148491ac40c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### OccFormer IoU (barrier): 18.65. Result ID: 69942be13a6c3148491b8db5. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### OccFormer IoU (barrier): 18.65. Result ID: 69ae82156dbb7075b956914e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Venue":"ICCV 2023"}. This record does not assert independent reproduction. ### TPVFormer IoU (barrier): 16.14. Result ID: 69940fd23a6c3148491ac40a. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"supervision":"original LiDAR segmentation labels"}. This record does not assert independent reproduction. ### TPVFormer IoU (barrier): 16.14. Result ID: 69942be13a6c3148491b8db3. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"supervision":"sparse LiDAR segmentation labels"}. This record does not assert independent reproduction. ### TPVFormer IoU (barrier): 16.14. Result ID: 69ae82156dbb7075b956914c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Venue":"CVPR 2023"}. This record does not assert independent reproduction. ### TPVFormer IoU (barrier): 15.96. Result ID: 69940fd23a6c3148491ac40b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"supervision":"dense occupancy annotations"}. This record does not assert independent reproduction. ### TPVFormer\* IoU (barrier): 15.96. Result ID: 69942be13a6c3148491b8db4. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"supervision":"dense occupancy labels"}. This record does not assert independent reproduction. ### TPVFormer IoU (barrier): 15.96. Result ID: 69ae82156dbb7075b956914d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Venue":"CVPR 2023","supervision using dense occupancy annotations":"true"}. This record does not assert independent reproduction. ### BEVFormer IoU (barrier): 14.22. Result ID: 69940fd23a6c3148491ac409. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### BEVFormer IoU (barrier): 14.22. Result ID: 69942be13a6c3148491b8db2. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### BEVFormer IoU (barrier): 14.22. Result ID: 69ae82156dbb7075b956914b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Venue":"ECCV 2022"}. This record does not assert independent reproduction. ### Atlas IoU (barrier): 10.64. Result ID: 69940fd23a6c3148491ac408. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Atlas IoU (barrier): 10.64. Result ID: 69942be13a6c3148491b8db1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Atlas IoU (barrier): 10.64. Result ID: 69ae82156dbb7075b956914a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Venue":"ECCV 2020"}. This record does not assert independent reproduction. ### MonoScene IoU (barrier): 4.03. Result ID: 69940fd23a6c3148491ac407. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### MonoScene IoU (barrier): 4.03. Result ID: 69942be13a6c3148491b8db0. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### MonoScene IoU (barrier): 4.03. Result ID: 69ae82156dbb7075b9569149. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Venue":"CVPR 2022"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.