LiDAR Semantic Segmentation on SemanticSTF ([C])
89.4Car ScoreOracle
Evaluation Results
| Method | Links | |||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Oracleadaptation_setting=[A] → [C]2026.03 | 89.4 | 42.1 | 0 | 59.9 | 61.2 | 69.6 | 39 | 0 | 82.2 | 21.5 | 58.2 | 45.6 | 86.1 | 63.6 | 80.2 | 52 | 77.6 | 50.1 | 61.7 | 51.9 | 54.6 | 57.9 | 53.7 | 54.7 | — | |
| Oracle2026.03 | 89.4 | 42.1 | 0 | 59.9 | 61.2 | 69.6 | 39 | 0 | 82.2 | 21.5 | 58.2 | 45.6 | 86.1 | 63.6 | 80.2 | 52 | 77.6 | 50.1 | 61.7 | 51.9 | 54.6 | 57.9 | 53.7 | 54.7 | — | |
| A3Pointadaptation_setting=[A] → [C]2026.03 | 88.3 | 4.1 | 57.5 | 29 | 7.6 | 45.3 | 24 | 46.4 | 69.2 | 16.9 | 38.4 | 3.3 | 74.8 | 48.2 | 63.1 | 42.9 | 49.2 | 32.6 | 41.8 | 41.1 | 38.5 | 38.2 | 37.2 | 41.3 | 9.9 | |
| LiDARWeatheradaptation_setting=[A] → [C]2026.03 | 86.1 | 4.8 | 13.8 | 39.7 | 26.6 | 55.4 | 8.5 | 50.4 | 63.7 | 14.9 | 37.9 | 5.5 | 75.2 | 52.7 | 60.4 | 39.7 | 44.9 | 30.1 | 40.8 | 36 | 37.5 | 37.6 | 33.1 | 39.5 | 8.1 | |
| NTNadaptation_setting=[A] → [C]2026.03 | 83.3 | 3.7 | 31.3 | 36.2 | 18.2 | 53.3 | 6.8 | 55.9 | 67.2 | 18.1 | 37.2 | 5.4 | 72.1 | 41.8 | 58 | 36 | 46 | 28.2 | 39.8 | 35.3 | 35.1 | 35.7 | 32.4 | 38.9 | 7.5 | |
| DGUILadaptation_setting=[A] → [C]2026.03 | 78.2 | 2.5 | 33 | 29.7 | 6.1 | 49.8 | 0.8 | 40.9 | 67.3 | 7.2 | 38 | 2.2 | 79.8 | 54.4 | 64.1 | 36.8 | 52.3 | 31 | 40 | 36.3 | 34.5 | 35.5 | 33.3 | 37.6 | 6.2 | |
| A3Point2026.03 | 76.7 | 4 | 5 | 29.6 | 1.3 | 35.1 | 1.7 | 9.5 | 55.4 | 3.9 | 24 | 3.5 | 61.7 | 34.5 | 60.1 | 34.1 | 33.3 | 28.1 | 14.8 | 26.8 | 26.6 | 31.9 | 28.6 | 27.2 | 11.7 | |
| WADGadaptation_setting=[A] → [C]2026.03 | 72 | 0 | 32.9 | 37 | 1.9 | 37.7 | 6.8 | 52.9 | 59.9 | 10.7 | 31.8 | 2.2 | 76 | 48.8 | 62.7 | 34 | 49.3 | 23.6 | 20.4 | 39.5 | 32.5 | 31.7 | 29.4 | 34.8 | 3.4 | |
| DGLSSadaptation_setting=[A] → [C]2026.03 | 69.6 | 0.8 | 42.8 | 34.4 | 8.9 | 41.9 | 12.8 | 44.5 | 52 | 14.5 | 30.8 | 6 | 77.8 | 51.1 | 57.6 | 38.9 | 43.2 | 29.7 | 30.6 | 34.2 | 34.8 | 36.2 | 32.1 | 36.2 | 4.8 | |
| PointDR*adaptation_setting=[A] → [C], backbone=same backbone (reproduced)2026.03 | 69.2 | 1 | 8.9 | 41.9 | 7.6 | 48.9 | 17 | 36.2 | 57.8 | 15.9 | 32.3 | 4 | 75.7 | 46.4 | 54 | 36.2 | 43.9 | 23.7 | 24.2 | 37.3 | 33.5 | 35.5 | 26.9 | 33.9 | 2.5 | |
| Baselineadaptation_setting=[A] → [C]2026.03 | 67.1 | 5 | 28.1 | 38.5 | 14.6 | 45.8 | 8.3 | 13.8 | 40.1 | 16.1 | 26.1 | 3.3 | 71.6 | 52.7 | 53.8 | 33.9 | 39.2 | 25.3 | 12.7 | 30.7 | 30.1 | 29.7 | 25.3 | 31.4 | 0 | |
| NTN2026.03 | 48.4 | 1.5 | 2.4 | 19.4 | 0.2 | 29.1 | 3.2 | 8.9 | 43.5 | 6.7 | 20.5 | 0 | 52.2 | 30.1 | 49.8 | 20 | 32.9 | 24.7 | 7.5 | — | — | — | — | 21.1 | 5.6 | |
| PointDRreproduced with same backbone=true2026.03 | 41.1 | 2.8 | 3.4 | 18.1 | 0.2 | 31.3 | 2.8 | 3.3 | 34.4 | 10.2 | 19.7 | 1 | 52.7 | 22 | 48.5 | 21.3 | 38.3 | 19.2 | 5.6 | 19.1 | 20.3 | 25.3 | 19 | 19.8 | 4.3 | |
| LiDARWeather2026.03 | 39.3 | 2.9 | 0.9 | 19.4 | 0.8 | 27.7 | 2.2 | 3.8 | 42.5 | 9.4 | 21.6 | 0.3 | 51.9 | 33.5 | 47.4 | 23.1 | 33.3 | 23.2 | 6.8 | 19 | 21.2 | 23.1 | 17.3 | 20.5 | 5 | |
| Baseline2026.03 | 33.8 | 1.7 | 3.3 | 15.5 | 0.2 | 25.5 | 1.6 | 3.4 | 15.3 | 9.2 | 16.8 | 0.1 | 33.4 | 21.9 | 39.5 | 18.7 | 44 | 8.8 | 0.8 | 15.2 | 16 | 16.8 | 12.8 | 15.5 | 0 | |
| WADG2026.03 | 33.8 | 1.1 | 2.9 | 17 | 0.2 | 26.8 | 1 | 4.3 | 53.9 | 5 | 20.6 | 2.2 | 64.3 | 27.1 | 53.8 | 27 | 37 | 28.6 | 8.6 | 21.6 | 23.4 | 27.2 | 21.4 | 21.9 | 6.4 |