BEV Semantic Segmentation on nuScenes Seen Corruptions
32.46Performance (FGSM)FIERY
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| FIERYMode=+RESBev2026.03 | 32.46 | — | 32.44 | 31.79 | 31.58 | 31.62 | 31.98 | |
| GaussianLSSMode=+RESBev2026.03 | 31.43 | — | 31.09 | 31.95 | 31.87 | 31.61 | 31.59 | |
| SimpleBEVMode=+RESBev2026.03 | 31.09 | — | 31.65 | 33.76 | 33.79 | 33.73 | 32.8 | |
| LSSMode=+RESBev2026.03 | 28.42 | — | 31.47 | 28.39 | 28.38 | 28.33 | 29.02 | |
| GraphBEVMode=Vanilla2026.03 | 22.64 | 61.47 | 19.88 | 25.76 | 24.91 | 26.84 | 24 | |
| GaussianLSSMode=Change2026.03 | 21.52 | — | 23.37 | 7.69 | 7.85 | 16.9 | 15.47 | |
| FIERYMode=Change2026.03 | 20.57 | — | 24.41 | 18.81 | 19.71 | 16 | 19.9 | |
| LSSMode=Change2026.03 | 18.14 | — | 22.3 | 18.46 | 18.6 | 17.68 | 19.06 | |
| SimpleBEVMode=Change2026.03 | 17.86 | — | 19.76 | 16.58 | 16.16 | 15.99 | 17.27 | |
| SimpleBEVMode=Vanilla2026.03 | 13.23 | 55.7 | 11.89 | 17.18 | 17.63 | 17.74 | 15.53 | |
| FIERYMode=Vanilla2026.03 | 11.89 | 57.6 | 8.03 | 12.98 | 11.87 | 15.62 | 12.08 | |
| LSSMode=Vanilla2026.03 | 10.28 | 33.03 | 9.17 | 9.93 | 9.78 | 10.65 | 9.96 | |
| GaussianLSSMode=Vanilla2026.03 | 9.91 | 42.8 | 7.72 | 24.26 | 24.03 | 14.7 | 16.12 |