Multi-Object Tracking on nuScenes (val)
72.8AMOTAFocalFormer-L / SimpleTrack
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| FocalFormer-L / SimpleTrackDetection method=FocalFormer-L, Tracking method=SimpleTrack, Tracking paradigm=Tracking-by-Detection2026.03 | 72.8 | — | 11,039 | 19,542 | 528 | 0.576 | — | 66.4 | |
| VoxelNextDetection method=VoxelNext, Tracking method=VoxelNext, Tracking paradigm=Tracking-by-Detection2026.03 | 70.2 | — | 12,642 | 19,179 | 729 | 0.64 | — | 60.5 | |
| SCATRTracking paradigm=Tracking-by-Attention2026.03 | 68.8 | — | 10,850 | 17,556 | 163 | 0.609 | — | 64.5 | |
| CenterPoint / SimpleTrackDetection method=CenterPoint, Tracking method=SimpleTrack, Tracking paradigm=Tracking-by-Detection2026.03 | 68.7 | — | 12,983 | 19,941 | 519 | 0.573 | — | 56.4 | |
| TransFusion-L / CenterPointDetection method=TransFusion-L, Tracking method=CenterPoint, Tracking paradigm=Tracking-by-Detection2026.03 | 68.6 | — | 17,851 | 23,437 | 893 | — | — | 65.5 | |
| CenterPointDetection method=CenterPoint, Tracking method=CenterPoint, Tracking paradigm=Tracking-by-Detection2026.03 | 63.7 | — | 13,616 | 22,573 | 640 | 0.606 | — | 56.4 | |
| JDT3DTracking paradigm=Tracking-by-Attention2026.03 | 62.2 | — | — | — | 203 | 0.816 | — | 39.9 | |
| MotionTrack-LTracking paradigm=Tracking-by-Attention2026.03 | 61.7 | — | — | — | 20,867 | 0.374 | — | — | |
| StreamPETR-HATE2E=false, Detector=StreamPETR, Backbone=V2-992025.12 | 53.3 | 47 | 14,073 | 30,946 | 775 | 1.107 | — | — | |
| StreamPETRE2E=false, Detector=StreamPETR, Backbone=V2-992025.12 | 52.6 | 46.1 | 12,594 | 33,380 | 742 | 1.129 | — | — | |
| FlowAD_SparseDriveBackbone=ResNet1012026.03 | 51.8 | — | — | — | — | 1.04 | — | — | |
| SparseDriveBackbone=ResNet1012026.03 | 50.1 | — | — | — | — | 1.085 | — | — | |
| UniAD-CRISPModality=C+R, Pretrain=CRISP2026.07 | 48.6 | — | — | — | — | 1.12 | 57 | — | |
| PF-Track (camera)Tracking paradigm=Tracking-by-Attention2026.03 | 47.9 | — | — | — | 181 | 1.227 | — | — | |
| SpaRC-ADModality=C+R, Pretrain=-2026.07 | 46.9 | — | — | — | — | 1.13 | 55 | — | |
| FlowAD_DiffusionDriveBackbone=ResNet502026.03 | 46.6 | — | — | — | — | 1.141 | — | — | |
| UniAD-CRISPModality=C+R, Pretrain=-2026.07 | 44.6 | — | — | — | — | 1.17 | 56 | — | |
| UniADModality=C, Pretrain=ViDAR [23]2026.07 | 43.46 | — | — | — | — | 1.25 | 54 | — | |
| FlowAD_SparseDriveBackbone=ResNet50, ego status=true2026.03 | 43 | — | — | — | — | 1.198 | — | — | |
| FlowAD_SparseDriveBackbone=ResNet502026.03 | 42.7 | — | — | — | — | 1.181 | — | — | |
| GameAD2026.04 | 39.9 | — | — | — | 566 | 1.224 | 50.4 | — | |
| BridgeAD2026.04 | 39.8 | — | — | — | 639 | 1.232 | 50.1 | — | |
| ADA-Track-HATE2E=true, Detector=DETR3D, Backbone=R1012025.12 | 39.7 | 36.4 | 13,100 | 38,121 | 752 | 1.344 | — | — | |
| MomADBackbone=ResNet502026.03 | 39.1 | — | — | — | — | 1.243 | — | — | |
| MomAD2026.04 | 39.1 | — | — | — | 853 | 1.243 | 50.9 | — | |
| SparseDriveBackbone=ResNet502026.03 | 38.6 | — | — | — | — | 1.254 | — | — | |
| SparseDrive2026.04 | 38.6 | — | — | — | 886 | 1.254 | 49.9 | — | |
| ADA-TrackE2E=true, Detector=DETR3D, Backbone=R1012025.12 | 38.4 | 34.7 | 14,358 | 38,035 | 839 | 1.378 | — | — | |
| DiffusionDriveBackbone=ResNet502026.03 | 37.4 | — | — | — | — | 1.246 | — | — | |
| UniADBackbone=ResNet1012026.03 | 35.9 | — | — | — | — | 1.32 | — | — | |
| UniAD2026.04 | 35.9 | — | — | — | 906 | 1.32 | 46.7 | — | |
| UniADModality=C, Pretrain=-2026.07 | 35.9 | — | — | — | — | 1.32 | 48 | — | |
| NexusFlowNetwork Stages=Two stage, Supervision Protocol=partial supervision2025.12 | 32.9 | — | — | — | 690 | 1.322 | 42.8 | — | |
| OracleSupervision Protocol=fully supervised2025.12 | 32.3 | — | — | — | 696 | 1.328 | 43.1 | — | |
| NexusFlowNetwork Stages=One stage, Supervision Protocol=partial supervision2025.12 | 31.8 | — | — | — | 734 | 1.353 | 40.7 | — | |
| BaselineSupervision Protocol=partial supervision2025.12 | 28.9 | — | — | — | 1,025 | 1.488 | 36.2 | — | |
| MTPSLSupervision Protocol=partial supervision2025.12 | 25.5 | — | — | — | 1,089 | 1.504 | 32.1 | — | |
| JTRSupervision Protocol=partial supervision2025.12 | 19.7 | — | — | — | 774 | 1.547 | 31.7 | — |