ResearchBenchmarksLiDAR Semantic Segmentation on nuScenes Beam-32 (20%)LiDAR Semantic Segmentation on nuScenes Beam-32 (20%)Follow69.62mIoUOmniLiDAR67.051267.718168.38569.0519May 13, 2026Evaluation resultsMethodMethodLinksmIoUOmniLiDARBackbone=MinkUNetBackbone=MinkUNet2026.0569.62OmniLiDARBackbone=SPVCNNBackbone=SPVCNN2026.0568.3Sup.-onlyBackbone=SPVCNNBackbone=SPVCNN2026.0567.26Sup.-onlyBackbone=MinkUNetBackbone=MinkUNet2026.0567.15