# LiDAR Semantic Segmentation on nuScenes (20%)

Source: [LiDAR Semantic Segmentation on nuScenes (20%)](<https://www.sota2.com/research/sota/lidar-semantic-segmentation-on-nuscenes-20-percent>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T06:10:21.067Z

Evaluation of LiDAR-based Semantic Segmentation performance on the 20% subset of the nuScenes dataset, reporting Mean Intersection over Union (mIoU).

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 | LiDAR Semantic Segmentation |
| Dataset (including any stated split) | nuScenes (20%) |
| Metric | mIoU |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 11 of 11 |
| 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

- [mIoU](<https://www.sota2.com/research/sota/lidar-semantic-segmentation-on-nuscenes-20-percent.md?metric=mIoU>): Higher is better; unit: PERCENT.

## Recorded results

| Method | mIoU | Result date | Report paper |
| --- | --- | --- | --- |
| LaserMix | 71.8 | Not recorded | 68fa70731e209131cea4b186 |
| LaserMix | 70.6 | Not recorded | 68fa70731e209131cea4b186 |
| CPS | 70 | Not recorded | 68fa70731e209131cea4b186 |
| CBST | 69.6 | Not recorded | 68fa70731e209131cea4b186 |
| MeanTeacher | 67.1 | Not recorded | 68fa70731e209131cea4b186 |
| Sup.-only | 66.6 | Not recorded | 68fa70731e209131cea4b186 |
| MeanTeacher | 65.4 | Not recorded | 68fa70731e209131cea4b186 |
| CPS | 64.9 | Not recorded | 68fa70731e209131cea4b186 |
| CutMix-Seg | 64.8 | Not recorded | 68fa70731e209131cea4b186 |
| CBST | 64.3 | Not recorded | 68fa70731e209131cea4b186 |
| Sup.-only | 62.7 | Not recorded | 68fa70731e209131cea4b186 |

### LaserMix

mIoU: 71.8. Result ID: 6991313a3a6c314849065cba.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

[Implementation](<https://github.com/ldkong1205/LaserMix>)

Recorded evaluation configuration: {"Repr.":"Voxel"}. This record does not assert independent reproduction.

### LaserMix

mIoU: 70.6. Result ID: 6991313a3a6c314849065cb5.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

[Implementation](<https://github.com/ldkong1205/LaserMix>)

Recorded evaluation configuration: {"Repr.":"Range View"}. This record does not assert independent reproduction.

### CPS

mIoU: 70. Result ID: 6991313a3a6c314849065cb9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a231e209131cea26482.md>)

[Implementation](<https://git.io/CPS>)

Recorded evaluation configuration: {"Repr.":"Voxel"}. This record does not assert independent reproduction.

### CBST

mIoU: 69.6. Result ID: 6991313a3a6c314849065cb8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

Recorded evaluation configuration: {"Repr.":"Voxel"}. This record does not assert independent reproduction.

### MeanTeacher

mIoU: 67.1. Result ID: 6991313a3a6c314849065cb7.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64481e209131cea03b45.md>)

[Implementation](<https://github.com/CuriousAI/mean-teacher>)

Recorded evaluation configuration: {"Repr.":"Voxel"}. This record does not assert independent reproduction.

### Sup.-only

mIoU: 66.6. Result ID: 6991313a3a6c314849065cb6.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

Recorded evaluation configuration: {"Repr.":"Voxel"}. This record does not assert independent reproduction.

### MeanTeacher

mIoU: 65.4. Result ID: 6991313a3a6c314849065cb1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64481e209131cea03b45.md>)

[Implementation](<https://github.com/CuriousAI/mean-teacher>)

Recorded evaluation configuration: {"Repr.":"Range View"}. This record does not assert independent reproduction.

### CPS

mIoU: 64.9. Result ID: 6991313a3a6c314849065cb4.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a231e209131cea26482.md>)

[Implementation](<https://git.io/CPS>)

Recorded evaluation configuration: {"Repr.":"Range View"}. This record does not assert independent reproduction.

### CutMix-Seg

mIoU: 64.8. Result ID: 6991313a3a6c314849065cb3.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

Recorded evaluation configuration: {"Repr.":"Range View"}. This record does not assert independent reproduction.

### CBST

mIoU: 64.3. Result ID: 6991313a3a6c314849065cb2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

Recorded evaluation configuration: {"Repr.":"Range View"}. This record does not assert independent reproduction.

### Sup.-only

mIoU: 62.7. Result ID: 6991313a3a6c314849065cb0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

Recorded evaluation configuration: {"Repr.":"Range View"}. This record does not assert independent reproduction.

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