ResearchBenchmarksMulti-class segmentation on ArgoverseMulti-class segmentation on ArgoverseFollow77.2Driveable Area ScoreSplat2BEV62.32866.18970.0573.911Mar 19, 2026Evaluation resultsMethodMethodLinksDriveable Area ScoreVehicle ScorePedestrian ScoreLight Vehicle ScoreBicycle ScoreBus ScoreTrailer ScoreMotorcycle ScoreMean ScoreSplat2BEV2026.0377.236.412.315.33.938.64.56.624.4TaDe2026.0368.334.59.314.74.437.83.16.422.3PON2026.0365.431.47.411.13.6110.75.717VPN2026.0364.923.96.29.70.930.4113.9VED2026.0362.91413.9012.31.3011.9