Environment Reconstruction on WAIR-D (test)
65.3Macro IoUMapRadioFormer
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| MapRadioFormerMap=✓, RF=R1, Subset=✓2025.07 | 65.3 | 65.8 | 33.9 | 2 | |
| MapRadioFormerMap=✓, RF=R1 73Ghz, Subset=✓2025.07 | 63.2 | 64.2 | 39 | 2.5 | |
| MapRadioFormerMap=✓, RF=R1 28Ghz, Subset=✓2025.07 | 60.1 | 61.5 | 44 | 3.1 | |
| MapRadioFormerMap=✓, RF=R1, Subset=✗2025.07 | 59.6 | 60.8 | 44.9 | 3.2 | |
| MapRadioFormerMap=✓, RF=R2, Subset=✗2025.07 | 55.7 | 57.8 | 62 | 6.1 | |
| MapRadioFormerMap=✓, RF=R2, Subset=✓2025.07 | 52.4 | 54.5 | 67.8 | 6.8 | |
| MapRadioFormerMap=✗, RF=R1, Subset=✓2025.07 | 46.9 | 49 | 45.8 | 4 | |
| MapRadioFormerMap=✗, RF=R1 28Ghz, Subset=✓2025.07 | 46.7 | 48.7 | 48.5 | 4.1 | |
| MapRadioFormerMap=✗, RF=R1 73Ghz, Subset=✓2025.07 | 46 | 48.1 | 47.7 | 4.2 | |
| MapRadioFormerMap=✗, RF=R1, Subset=✗2025.07 | 45.4 | 47.7 | 48.2 | 4.2 | |
| Non-AI BaselineMap=✓, RF=R2, Subset=✗2025.07 | 42.2 | 42 | 99.2 | 17 | |
| Copy BaselineMap=✓, RF=✗, Subset=—2025.07 | 40.1 | 39.9 | 151.6 | 50.2 | |
| MapRadioFormerMap=✓, RF=✗, Subset=—2025.07 | 39.8 | 40.1 | 131.2 | 45.8 | |
| CLIP+UPerNetMap=✗, RF=R1Rays, Subset=✓2025.07 | 37.3 | 40.1 | 60.6 | 7 | |
| MapRadioFormerMap=✗, RF=R2, Subset=✓2025.07 | 32.5 | 36.2 | 80.6 | 10.8 | |
| MapRadioFormerMap=✗, RF=R2, Subset=✗2025.07 | 31.1 | 35.1 | 87 | 15.7 |