# 3D Semantic Segmentation on nuScenes Lidar-Seg (val)

Source: [3D Semantic Segmentation on nuScenes Lidar-Seg (val)](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-04-10T00:26:03.244Z

Evaluation of 3D Semantic Segmentation performance specifically on the nuScenes Lidar-Seg validation split, reporting Mean Intersection over Union (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 Segmentation |
| Dataset (including any stated split) | nuScenes Lidar-Seg (val) |
| Metric | mIoU |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 41 of 41 |
| 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

- [mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=mIoU>): Higher is better; unit: PERCENT.

- [Barrier mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Barrier%20mIoU>): Higher is better; unit: PERCENT.

- [Bicycle mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Bicycle%20mIoU>): Higher is better; unit: PERCENT.

- [Bus mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Bus%20mIoU>): Higher is better; unit: PERCENT.

- [Car mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Car%20mIoU>): Higher is better; unit: PERCENT.

- [Construction mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Construction%20mIoU>): Higher is better; unit: PERCENT.

- [Motorcycle mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Motorcycle%20mIoU>): Higher is better; unit: PERCENT.

- [Pedestrian mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Pedestrian%20mIoU>): Higher is better; unit: PERCENT.

- [Traffic-cone mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Traffic-cone%20mIoU>): Higher is better; unit: PERCENT.

- [Trailer mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Trailer%20mIoU>): Higher is better; unit: PERCENT.

- [Truck mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Truck%20mIoU>): Higher is better; unit: PERCENT.

- [Driveable mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Driveable%20mIoU>): Higher is better; unit: PERCENT.

- [Other-flat mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Other-flat%20mIoU>): Higher is better; unit: PERCENT.

- [Sidewalk mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Sidewalk%20mIoU>): Higher is better; unit: PERCENT.

- [Terrain mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Terrain%20mIoU>): Higher is better; unit: PERCENT.

- [Manmade mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Manmade%20mIoU>): Higher is better; unit: PERCENT.

- [Vegetation mIoU](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=Vegetation%20mIoU>): Higher is better; unit: PERCENT.

- [mIoU (1%)](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=mIoU%20(1%25)>): Higher is better; unit: PERCENT.

- [mIoU (10%)](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=mIoU%20(10%25)>): Higher is better; unit: PERCENT.

- [mIoU (20%)](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=mIoU%20(20%25)>): Higher is better; unit: PERCENT.

- [mIoU (50%)](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-nuscenes-lidar-seg-val.md?metric=mIoU%20(50%25)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | mIoU | Result date | Report paper |
| --- | --- | --- | --- |
| EPMF | 80.6 | Not recorded | 68fa74c51e209131cea63b10 |
| SphereFormer | 79.5 | Not recorded | 68fa74c51e209131cea63b10 |
| 2DPASS | 79.5 | Not recorded | 68fa74c51e209131cea63b10 |
| SpUNet+UniPAD | 79.4 | Not recorded | 68fa72d71e209131cea58d83 |
| WaffleIron | 79.1 | Not recorded | 68fa72d71e209131cea58d83 |
| WaffleIron | 79.1 | Not recorded | 68fa74c51e209131cea63b10 |
| 2D3DNet | 79 | Not recorded | 68fa74c51e209131cea63b10 |
| PMF-R50 | 79 | Not recorded | 68fa74c51e209131cea63b10 |
| SDSeg3D | 78.7 | Not recorded | 68fa74c51e209131cea63b10 |
| SphereFormer | 78.4 | Not recorded | 68fa72d71e209131cea58d83 |
| SphereFormer | 78.4 | Not recorded | 68fa74c51e209131cea63b10 |
| RangeFormer | 78.1 | Not recorded | 68fa72d71e209131cea58d83 |
| RangeFormer | 78.1 | Not recorded | 68fa74c51e209131cea63b10 |
| SDSeg3D | 77.7 | Not recorded | 68fa74c51e209131cea63b10 |
| RPVNet | 77.6 | Not recorded | 68fa74c51e209131cea63b10 |
| WaffleIron | 77.6 | Not recorded | 68fa74c51e209131cea63b10 |
| PMF | 76.9 | Not recorded | 68fa74c51e209131cea63b10 |
| 2DPASS | 76.4 | Not recorded | 68fa74c51e209131cea63b10 |
| Cylinder3D | 76.1 | Not recorded | 68fa72d71e209131cea58d83 |
| AMVNet | 76.1 | Not recorded | 68fa74c51e209131cea63b10 |
| Cylinder3D | 76.1 | Not recorded | 68fa74c51e209131cea63b10 |
| PVKD | 76 | Not recorded | 68fa74c51e209131cea63b10 |
| SVASeg | 74.7 | Not recorded | 68fa74c51e209131cea63b10 |
| SpUNet | 73.3 | Not recorded | 68fa72d71e209131cea58d83 |
| Salsanext | 72.2 | Not recorded | 68fa74c51e209131cea63b10 |
| REPL | 71.3 | Not recorded | 69d732b97d0172140ec76d0a |
| PolarNet | 71 | Not recorded | 68fa74c51e209131cea63b10 |
| Uni-modal baseline | 69.4 | Not recorded | 68fa74c51e209131cea63b10 |
| IT2 | 69.3 | Not recorded | 69d732b97d0172140ec76d0a |
| FrustrumMix | 69.2 | Not recorded | 69d732b97d0172140ec76d0a |
| LaserMix++ | 69.1 | Not recorded | 69d732b97d0172140ec76d0a |
| AIScene | 68.4 | Not recorded | 69d732b97d0172140ec76d0a |
| LaserMix | 67.6 | Not recorded | 69d732b97d0172140ec76d0a |
| RangeNet++ | 65.5 | Not recorded | 68fa74c51e209131cea63b10 |
| CPS | 65.4 | Not recorded | 69d732b97d0172140ec76d0a |
| CBST | 65.2 | Not recorded | 69d732b97d0172140ec76d0a |
| MT | 64.1 | Not recorded | 69d732b97d0172140ec76d0a |
| Sup-only | 63.7 | Not recorded | 69d732b97d0172140ec76d0a |

### EPMF

mIoU: 80.6. Result ID: 699366ab3a6c31484915ab80.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Implementation](<https://github.com/ICEORY/PMF>)

Recorded evaluation configuration: {"Modality":"Fusion-based","Test-time augmentation":false}. This record does not assert independent reproduction.

### SphereFormer

mIoU: 79.5. Result ID: 699366ab3a6c31484915ab79.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ecd1e209131cea42420.md>)

[Implementation](<https://github.com/dvlab-research/SphereFormer.git>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":true}. This record does not assert independent reproduction.

### 2DPASS

mIoU: 79.5. Result ID: 699366ab3a6c31484915ab7b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6dac1e209131cea3b618.md>)

[Implementation](<https://github.com/yanx27/2DPASS>)

Recorded evaluation configuration: {"Modality":"Fusion-based","Test-time augmentation":true}. This record does not assert independent reproduction.

### SpUNet+UniPAD

mIoU: 79.4. Result ID: 699280d73a6c3148490f67ab.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72d71e209131cea58d83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72d71e209131cea58d83.md>)

[Implementation](<https://github.com/Nightmare-n/UniPAD>)

Recorded evaluation configuration: {"Modality":"L","Backbone":"SpConv"}. This record does not assert independent reproduction.

### WaffleIron

mIoU: 79.1. Result ID: 699280d73a6c3148490f67a8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72d71e209131cea58d83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70b31e209131cea4ca99.md>)

[Implementation](<https://github.com/valeoai/WaffleIron>)

Recorded evaluation configuration: {"Modality":"L","Backbone":"Conv2D"}. This record does not assert independent reproduction.

### WaffleIron

mIoU: 79.1. Result ID: 699366ab3a6c31484915ab76.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70b31e209131cea4ca99.md>)

[Implementation](<https://github.com/valeoai/WaffleIron>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":true}. This record does not assert independent reproduction.

### 2D3DNet

mIoU: 79. Result ID: 699366ab3a6c31484915ab7c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b0f1e209131cea2bd21.md>)

Recorded evaluation configuration: {"Modality":"Fusion-based","Test-time augmentation":false}. This record does not assert independent reproduction.

### PMF-R50

mIoU: 79. Result ID: 699366ab3a6c31484915ab7e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Implementation](<https://github.com/ICEORY/PMF>)

Recorded evaluation configuration: {"Modality":"Fusion-based","Test-time augmentation":false}. This record does not assert independent reproduction.

### SDSeg3D

mIoU: 78.7. Result ID: 699366ab3a6c31484915ab74.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":true}. This record does not assert independent reproduction.

### SphereFormer

mIoU: 78.4. Result ID: 699280d73a6c3148490f67a7.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72d71e209131cea58d83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ecd1e209131cea42420.md>)

[Implementation](<https://github.com/dvlab-research/SphereFormer.git>)

Recorded evaluation configuration: {"Modality":"L","Backbone":"Transformer"}. This record does not assert independent reproduction.

### SphereFormer

mIoU: 78.4. Result ID: 699366ab3a6c31484915ab78.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ecd1e209131cea42420.md>)

[Implementation](<https://github.com/dvlab-research/SphereFormer.git>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":false}. This record does not assert independent reproduction.

### RangeFormer

mIoU: 78.1. Result ID: 699280d73a6c3148490f67a6.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72d71e209131cea58d83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa707a1e209131cea4b57e.md>)

[Implementation](<https://ldkong.com/RangeFormer>)

Recorded evaluation configuration: {"Modality":"L","Backbone":"Transformer"}. This record does not assert independent reproduction.

### RangeFormer

mIoU: 78.1. Result ID: 699366ab3a6c31484915ab77.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa707a1e209131cea4b57e.md>)

[Implementation](<https://ldkong.com/RangeFormer>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":false}. This record does not assert independent reproduction.

### SDSeg3D

mIoU: 77.7. Result ID: 699366ab3a6c31484915ab73.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":false}. This record does not assert independent reproduction.

### RPVNet

mIoU: 77.6. Result ID: 699366ab3a6c31484915ab72.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69911e209131cea22bb1.md>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":false}. This record does not assert independent reproduction.

### WaffleIron

mIoU: 77.6. Result ID: 699366ab3a6c31484915ab75.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70b31e209131cea4ca99.md>)

[Implementation](<https://github.com/valeoai/WaffleIron>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":false}. This record does not assert independent reproduction.

### PMF

mIoU: 76.9. Result ID: 699366ab3a6c31484915ab7d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Implementation](<https://github.com/ICEORY/PMF>)

Recorded evaluation configuration: {"Modality":"Fusion-based","Test-time augmentation":false}. This record does not assert independent reproduction.

### 2DPASS

mIoU: 76.4. Result ID: 699366ab3a6c31484915ab7a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6dac1e209131cea3b618.md>)

[Implementation](<https://github.com/yanx27/2DPASS>)

Recorded evaluation configuration: {"Modality":"Fusion-based","Test-time augmentation":false}. This record does not assert independent reproduction.

### Cylinder3D

mIoU: 76.1. Result ID: 699280d73a6c3148490f67a9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72d71e209131cea58d83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa68c51e209131cea1e4a1.md>)

[Implementation](<https://github.com/xinge008/Cylinder3D>)

Recorded evaluation configuration: {"Modality":"L","Backbone":"SpConv"}. This record does not assert independent reproduction.

### AMVNet

mIoU: 76.1. Result ID: 699366ab3a6c31484915ab70.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa68dc1e209131cea1ebd1.md>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":false}. This record does not assert independent reproduction.

### Cylinder3D

mIoU: 76.1. Result ID: 699366ab3a6c31484915ab71.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ab41e209131cea29e52.md>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":false}. This record does not assert independent reproduction.

### PVKD

mIoU: 76. Result ID: 699366ab3a6c31484915ab6f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6cbc1e209131cea35ad7.md>)

[Implementation](<https://github.com/cardwing/Codes-for-PVKD>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":false}. This record does not assert independent reproduction.

### SVASeg

mIoU: 74.7. Result ID: 699366ab3a6c31484915ab6e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":false}. This record does not assert independent reproduction.

### SpUNet

mIoU: 73.3. Result ID: 699280d73a6c3148490f67aa.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72d71e209131cea58d83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65dd1e209131cea0ceeb.md>)

[Implementation](<https://github.com/StanfordVL/MinkowskiEngine>)

Recorded evaluation configuration: {"Modality":"L","Backbone":"SpConv"}. This record does not assert independent reproduction.

### Salsanext

mIoU: 72.2. Result ID: 699366ab3a6c31484915ab6d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":false}. This record does not assert independent reproduction.

### REPL

mIoU: 71.3. Result ID: 69d8438147f34ce924c05836.

[Reporting paper](<https://www.sota2.com/research/paper/69d732b97d0172140ec76d0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69d732b97d0172140ec76d0a.md>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### PolarNet

mIoU: 71. Result ID: 699366ab3a6c31484915ab6c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa676c1e209131cea1605c.md>)

[Implementation](<https://github.com/edwardzhou130/PolarSeg>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":false}. This record does not assert independent reproduction.

### Uni-modal baseline

mIoU: 69.4. Result ID: 699366ab3a6c31484915ab7f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

[Implementation](<https://github.com/ICEORY/PMF>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":false}. This record does not assert independent reproduction.

### IT2

mIoU: 69.3. Result ID: 69d8438147f34ce924c05832.

[Reporting paper](<https://www.sota2.com/research/paper/69d732b97d0172140ec76d0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79051e209131cea7bbd0.md>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### FrustrumMix

mIoU: 69.2. Result ID: 69d8438147f34ce924c05834.

[Reporting paper](<https://www.sota2.com/research/paper/69d732b97d0172140ec76d0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Implementation](<https://github.com/Xiangxu-0103/FRNet>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### LaserMix++

mIoU: 69.1. Result ID: 69d8438147f34ce924c05835.

[Reporting paper](<https://www.sota2.com/research/paper/69d732b97d0172140ec76d0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76c61e209131cea6eef6.md>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### AIScene

mIoU: 68.4. Result ID: 69d8438147f34ce924c05833.

[Reporting paper](<https://www.sota2.com/research/paper/69d732b97d0172140ec76d0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77b01e209131cea74be1.md>)

[Implementation](<https://github.com/azhuantou/AIScene>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### LaserMix

mIoU: 67.6. Result ID: 69d8438147f34ce924c05831.

[Reporting paper](<https://www.sota2.com/research/paper/69d732b97d0172140ec76d0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

[Implementation](<https://github.com/ldkong1205/LaserMix>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### RangeNet++

mIoU: 65.5. Result ID: 699366ab3a6c31484915ab6b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74c51e209131cea63b10.md>)

Recorded evaluation configuration: {"Modality":"LiDAR-only","Test-time augmentation":false}. This record does not assert independent reproduction.

### CPS

mIoU: 65.4. Result ID: 69d8438147f34ce924c05830.

[Reporting paper](<https://www.sota2.com/research/paper/69d732b97d0172140ec76d0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a231e209131cea26482.md>)

[Implementation](<https://git.io/CPS>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### CBST

mIoU: 65.2. Result ID: 69d8438147f34ce924c0582f.

[Reporting paper](<https://www.sota2.com/research/paper/69d732b97d0172140ec76d0a.md>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### MT

mIoU: 64.1. Result ID: 69d8438147f34ce924c0582e.

[Reporting paper](<https://www.sota2.com/research/paper/69d732b97d0172140ec76d0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64481e209131cea03b45.md>)

[Implementation](<https://github.com/CuriousAI/mean-teacher>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### Sup-only

mIoU: 63.7. Result ID: 69d8438147f34ce924c0582a.

[Reporting paper](<https://www.sota2.com/research/paper/69d732b97d0172140ec76d0a.md>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

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