BEV Semantic Segmentation on nuScenes (unseen corruptions)
31.31IoU (C&W Attack)FIERY
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| FIERYvariant=+RESBev2026.03 | 31.31 | — | 31.53 | 31.56 | 31.68 | 31.64 | 31.54 | |
| GaussianLSSvariant=+RESBev2026.03 | 31.24 | — | 32.1 | 31.56 | 31.43 | 31.96 | 31.66 | |
| LSSvariant=+RESBev2026.03 | 30.8 | — | 28.35 | 28.34 | 28.27 | 28.36 | 28.82 | |
| SimpleBEVvariant=+RESBev2026.03 | 30.61 | — | 33.71 | 33.74 | 33.76 | 33.75 | 33.11 | |
| GraphBEVvariant=Vanilla2026.03 | 17.38 | 61.47 | 27.14 | 28 | 21.88 | 27.01 | 24.28 | |
| FIERYvariant=Vanilla2026.03 | 12.61 | 57.6 | 9.44 | 14.88 | 13.91 | 16.91 | 13.55 | |
| SimpleBEVvariant=Vanilla2026.03 | 11.43 | 55.7 | 17.4 | 17.34 | 17.6 | 16.29 | 16.01 | |
| LSSvariant=Vanilla2026.03 | 8.78 | 33.03 | 10.26 | 10.08 | 8.64 | 8.11 | 9.17 | |
| GaussianLSSvariant=Vanilla2026.03 | 5.97 | 42.8 | 16.08 | 13.41 | 16.67 | 17.68 | 13.96 |