Class-incremental Motion Prediction on nuScenes (val)
30.61AP Static (1-4)Joint Training
Evaluation results
| Method | Links | |||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Joint Training2026.03 | 30.61 | 31.99 | 42.6 | 34.23 | 15.07 | 31.1 | 20.04 | 18.78 | 7.85 | 14.11 | 36 | 6.6 | 17.85 | 25.73 | 21 | 19.87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OMEN2026.03 | 22.74 | 20.59 | 30.78 | 24.73 | 7.18 | 20.75 | 12.69 | 10.69 | 2.75 | 6.44 | 17 | 2.54 | 10.89 | 15.93 | 14.55 | 12.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CL-DETRfuture pseudo-labeling=true2026.03 | 22 | 20.49 | 27.68 | 23.41 | 6.59 | 16.74 | 14.88 | 10.41 | 2.31 | 6.23 | 11 | 2.24 | 10.3 | 14.49 | 14.23 | 12.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pseudo-Labelingfuture pseudo-labeling=true2026.03 | 20.53 | 18.9 | 23.64 | 21.18 | 6.07 | 19.67 | 8.98 | 8.84 | 2.21 | 8.23 | 40 | 2.55 | 9.6 | 15.6 | 11 | 10.86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pseudo-Labeling2026.03 | 19.92 | 15.36 | 26.01 | 21.01 | 4.22 | 19.04 | 3.74 | 6.2 | 1.89 | 8.44 | 13 | 2.32 | 8.68 | 14.28 | 9.96 | 9.84 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Forgetting2026.03 | 0 | 0 | 28.42 | 8.12 | 0 | 0 | 13.49 | 3.85 | 0 | 0 | 10 | 0.03 | 0 | 0 | 14 | 4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CL-DETRproposed pseudo-labeling from future detections=true2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 42.93 | 20.64 | 19.65 | 49.99 | 20.24 | 24.08 | 24.58 | 16.27 | 14.9 | 10.96 | 7.7 | 4.09 | 28.51 | 14.74 | 14.35 | |
| ForgettingDescription=Baseline without any measures against forgetting2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0 | 0 | 2.31 | 0 | 0 | 3.39 | 0 | 0 | 1.28 | 0 | 0 | 0.64 | 0 | 0 | 1.77 | |
| Joint TrainingDescription=Upper bound training using all labels simultaneously2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 45.92 | 35.49 | 30.26 | 54.27 | 31.99 | 34.23 | 29.01 | 31.1 | 18.78 | 14.97 | 14.11 | 6.6 | 32.75 | 25.73 | 19.87 | |
| OMENProposed framework=true2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.34 | 20.8 | 21.95 | 47.95 | 19.86 | 26.01 | 28.86 | 19.5 | 16.24 | 13.04 | 8.1 | 4.57 | 29.95 | 15.82 | 15.6 | |
| Pseudo-LabelingPseudo-label type=forecasting predictions2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3.25 | -1.38 | 8.47 | 41.01 | 13.51 | 22.05 | 10.61 | 19.73 | 10.62 | 2.94 | 8.05 | 2.73 | 18.19 | 13.76 | 11.8 | |
| Pseudo-LabelingPseudo-label type=future detections, proposed pseudo-labeling from future detections=true2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 19.82 | 6.87 | 12.12 | 46.13 | 17.76 | 22.78 | 25.06 | 18.4 | 14.47 | 10.63 | 7.35 | 3.93 | 27.27 | 14.5 | 13.73 |