# Cooperative Perception on DAIR-V2X (AP Metrics) Source: [Cooperative Perception on DAIR-V2X (AP Metrics)]() Collection index: [llms.txt]() Data updated: 2026-05-04T08:54:33.852Z Evaluation of Cooperative Perception performance on the DAIR-V2X dataset, reporting Average Precision (AP) metrics at distance thresholds of 30m, 50m, and 70m, along with the delta AP@50. 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 | Cooperative Perception | | Dataset (including any stated split) | DAIR-V2X | | Metric | AP@30 | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 16 of 16 | | 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 - [AP@30](): Higher is better; unit: PERCENT. - [AP@50](): Higher is better; unit: PERCENT. - [AP@70](): Higher is better; unit: PERCENT. - [Delta AP@50](): Higher is better; unit: PERCENT. ## Recorded results | Method | AP@30 | Result date | Report paper | | --- | --- | --- | --- | | HEAL | 84.6 | Not recorded | 69f82816c0f56ed843088ac6 | | HEAL | 82.9 | Not recorded | 69f82816c0f56ed843088ac6 | | BOLT | 72.9 | Not recorded | 69f82816c0f56ed843088ac6 | | BOLT | 72.6 | Not recorded | 69f82816c0f56ed843088ac6 | | BOLT | 70.8 | Not recorded | 69f82816c0f56ed843088ac6 | | BOLT | 69.5 | Not recorded | 69f82816c0f56ed843088ac6 | | BOLT | 69.2 | Not recorded | 69f82816c0f56ed843088ac6 | | BOLT | 69.2 | Not recorded | 69f82816c0f56ed843088ac6 | | SECOND (ego-only) | 66.9 | Not recorded | 69f82816c0f56ed843088ac6 | | PyramidFusion | 65.7 | Not recorded | 69f82816c0f56ed843088ac6 | | PyramidFusion | 64.7 | Not recorded | 69f82816c0f56ed843088ac6 | | PP (ego-only) | 63.6 | Not recorded | 69f82816c0f56ed843088ac6 | | PyramidFusion | 63.4 | Not recorded | 69f82816c0f56ed843088ac6 | | PyramidFusion | 58.1 | Not recorded | 69f82816c0f56ed843088ac6 | | PyramidFusion | 51.8 | Not recorded | 69f82816c0f56ed843088ac6 | | PyramidFusion | 45.9 | Not recorded | 69f82816c0f56ed843088ac6 | ### HEAL AP@30: 84.6. Result ID: 69f85e2247f34ce924dc3200. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"homo. coop"}. This record does not assert independent reproduction. ### HEAL AP@30: 82.9. Result ID: 69f85e2247f34ce924dc31ff. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"homo. coop"}. This record does not assert independent reproduction. ### BOLT AP@30: 72.9. Result ID: 69f85e2247f34ce924dc3208. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"PP","Plugin":"w/ Plugin"}. This record does not assert independent reproduction. ### BOLT AP@30: 72.6. Result ID: 69f85e2247f34ce924dc3202. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"SECOND","Plugin":"w/ Plugin"}. This record does not assert independent reproduction. ### BOLT AP@30: 70.8. Result ID: 69f85e2247f34ce924dc320c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"LSS-R50","Plugin":"w/ Plugin"}. This record does not assert independent reproduction. ### BOLT AP@30: 69.5. Result ID: 69f85e2247f34ce924dc320a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"LSS-E","Plugin":"w/ Plugin"}. This record does not assert independent reproduction. ### BOLT AP@30: 69.2. Result ID: 69f85e2247f34ce924dc3204. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"LSS-E","Plugin":"w/ Plugin"}. This record does not assert independent reproduction. ### BOLT AP@30: 69.2. Result ID: 69f85e2247f34ce924dc3206. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"LSS-R50","Plugin":"w/ Plugin"}. This record does not assert independent reproduction. ### SECOND (ego-only) AP@30: 66.9. Result ID: 69f85e2247f34ce924dc31fe. [Reporting paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"ego-only"}. This record does not assert independent reproduction. ### PyramidFusion AP@30: 65.7. Result ID: 69f85e2247f34ce924dc320b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"LSS-R50","Plugin":"w/o Plugin"}. This record does not assert independent reproduction. ### PyramidFusion AP@30: 64.7. Result ID: 69f85e2247f34ce924dc3207. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"PP","Plugin":"w/o Plugin"}. This record does not assert independent reproduction. ### PP (ego-only) AP@30: 63.6. Result ID: 69f85e2247f34ce924dc31fd. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"ego-only"}. This record does not assert independent reproduction. ### PyramidFusion AP@30: 63.4. Result ID: 69f85e2247f34ce924dc3209. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"LSS-E","Plugin":"w/o Plugin"}. This record does not assert independent reproduction. ### PyramidFusion AP@30: 58.1. Result ID: 69f85e2247f34ce924dc3203. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"LSS-E","Plugin":"w/o Plugin"}. This record does not assert independent reproduction. ### PyramidFusion AP@30: 51.8. Result ID: 69f85e2247f34ce924dc3205. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"LSS-R50","Plugin":"w/o Plugin"}. This record does not assert independent reproduction. ### PyramidFusion AP@30: 45.9. Result ID: 69f85e2247f34ce924dc3201. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"SECOND","Plugin":"w/o Plugin"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.