ResearchBenchmarksLiDAR Semantic Segmentation on nuScenes Beam-32 (10%)LiDAR Semantic Segmentation on nuScenes Beam-32 (10%)Follow64.11mIoUOmniLiDAR58.733260.129161.52562.9209May 13, 2026Evaluation resultsMethodMethodLinksmIoUOmniLiDARBackbone=MinkUNetBackbone=MinkUNet2026.0564.11OmniLiDARBackbone=SPVCNNBackbone=SPVCNN2026.0562.95Sup.-onlyBackbone=SPVCNNBackbone=SPVCNN2026.0560.23Sup.-onlyBackbone=MinkUNetBackbone=MinkUNet2026.0558.94