ResearchBenchmarksFine-grained Semantic Segmentation on TUM2TWINFor AI assistantsMarkdownContent indexFine-grained Semantic Segmentation on TUM2TWINFollow30.5mIoUGS4City20.6223.18525.7528.315Apr 13, 2026Evaluation resultsMethodMethodLinksmIoUIoU (Door)IoU (Roof)IoU (Wall)IoU (Window)IoU (Car)IoU (Person)IoU (Tree)GS4City2026.0430.53.619.859.225.682.3918.8Gaga2026.0422.301.159.31.278.66.118.3LangSplat2026.04210.13.339.312.961.74.530.5