Detection on nuScenes (val)
72.3mAPBIRANet
Evaluation results
| Method | Links | ||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| BIRANetBackbone=ResNet-50, Input Modality=RGB+Radar, Resolution=1024x1024, Noise Condition=Normal2020.08 | 72.3 | — | — | — | — | — | — | — | — | — | — | — | 88.9 | 84.3 | 65.7 | 53.5 | 70.1 | 76.2 | 76.9 | 75.3 | 56.2 | 79.8 | |
| BIRANetBackbone=ResNet-50, Input Modality=RGB+Radar, Resolution=1024x1024, Noise Condition=With Added Noise2020.08 | 71.9 | — | — | — | — | — | — | — | — | — | — | — | 88.9 | 83.9 | 65.1 | 51 | 70.2 | 74.4 | 73.4 | 79.5 | 53.5 | 70 | |
| FFPNBackbone=ResNet-50, Input Modality=RGB, Resolution=1024x1024, Noise Condition=Normal2020.08 | 69.7 | — | — | — | — | — | — | — | — | — | — | — | 88.2 | 82 | — | 50.3 | 68 | 73.1 | 73.3 | 71.9 | 47.3 | 73 | |
| RANetBackbone=ResNet-50, Input Modality=Radar, Resolution=1024x1024, Noise Condition=Normal2020.08 | 69 | — | — | — | — | — | — | — | — | — | — | — | 83.9 | 80.1 | 64.4 | 44.8 | 67.8 | 71.3 | 76.4 | 70.9 | 53.2 | 73.2 | |
| FFPNBackbone=ResNet-50, Input Modality=RGB, Resolution=1024x1024, Noise Condition=With Added Noise2020.08 | 68.9 | — | — | — | — | — | — | — | — | — | — | — | 88.1 | 81.7 | 59 | 49.7 | 67.3 | 72.2 | 73 | 72.1 | 52.4 | 73 | |
| RANetBackbone=ResNet-50, Input Modality=Radar, Resolution=1024x1024, Noise Condition=With Added Noise2020.08 | 68.3 | — | — | — | — | — | — | — | — | — | — | — | 83.3 | 79.1 | 62.6 | 45 | 66.9 | 70.2 | 76.6 | 71.3 | 47.1 | 75.9 | |
| DriveMamba2026.02 | 50.8 | 59.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Drive TransformerLatency=211.7ms2025.03 | 49.9 | 59.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DriveTransformer2026.02 | 49.9 | 59.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseDrive2026.02 | 49.6 | 58.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DiffusionDrive-HATStage=2nd2025.12 | 42.7 | 54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseDrive-HATStage=2nd2025.12 | 42.5 | 53.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseDrive-HATStage=1st2025.12 | 42.1 | 53.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseDrive†Stage=1st2025.12 | 41.9 | 53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseDrive†Stage=2nd2025.12 | 41.2 | 52.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DiffusionDriveStage=2nd2025.12 | 41.2 | 52.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniADLatency=663.4ms2025.03 | 38 | 49.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniAD2026.02 | 38 | 49.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ParaDriveLatency=239.5ms2025.03 | 37 | 48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| InfoFocus2020.07 | 36.4 | — | 77.6 | 61.7 | 43.4 | 33.4 | 35.4 | 50.5 | 25.6 | 8.3 | 25.2 | 2.5 | — | — | — | — | — | — | — | — | — | — | |
| WYSIWYG2020.07 | 35.4 | — | 80 | 66.9 | 34.5 | 27.9 | 35.8 | 54.1 | 28.5 | 7.5 | 18.5 | 0 | — | — | — | — | — | — | — | — | — | — | |
| VADreproduced with official checkpoint=true2026.02 | 31.3 | 43.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPillars2020.07 | 29.5 | — | 70.5 | 59.9 | 33.2 | 29.6 | 25 | 34.3 | 16.7 | 4.5 | 20 | 1.6 | — | — | — | — | — | — | — | — | — | — |