Object Detection on nuScenes (val)
65.5mAPCenterPoint + DOS
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| CenterPoint + DOSLabeled Frames Percentage=100%, Pre-training=DOS2025.12 | 65.5 | — | — | — | 69.7 | — | |
| CenterPointLabeled Frames Percentage=100%, Pre-training=none2025.12 | 57.6 | — | — | — | 65.4 | — | |
| DOSLabeled Frames Percentage=20%2025.12 | 57.1 | — | — | — | 62.1 | — | |
| NOMAELabeled Frames Percentage=20%2025.12 | 54.4 | — | — | — | 60.9 | — | |
| HoP+SeaBirdResolution=640x1600, Backbone=V2-99, Venue=CVPR242024.03 | 52.7 | 40.3 | 71.7 | 58.8 | 60.2 | — | |
| PolarFormerResolution=900x1600, Backbone=V2-99, Venue=AAAI232024.03 | 50 | — | — | — | 56.2 | — | |
| HoPResolution=640x1600, Backbone=V2-99, Venue=ICCV23, reimplementation=true2024.03 | 49.6 | 36.5 | 69.1 | 56.1 | 58.3 | — | |
| Learning from 2DLabeled Frames Percentage=20%2025.12 | 48.8 | — | — | — | 49.2 | — | |
| UniPADLabeled Frames Percentage=20%2025.12 | 48.1 | — | — | — | 55.8 | — | |
| HoP+SeaBirdResolution=512x1408, Backbone=R101, Venue=CVPR242024.03 | 46.2 | 32.9 | 65 | 53.1 | 54.7 | — | |
| HoPResolution=512x1408, Backbone=R101, Venue=ICCV23, reimplementation=true2024.03 | 45.2 | 31.4 | 63.7 | 52.5 | 55 | — | |
| CAPEResolution=640x1600, Backbone=V2-99, Venue=CVPR232024.03 | 44.7 | 31.2 | 63.2 | 51.9 | 54.4 | — | |
| P2DResolution=512x1408, Backbone=R101, Venue=ICCV232024.03 | 43.3 | — | — | — | 52.8 | — | |
| STSResolution=512x1408, Backbone=R101, Venue=AAAI232024.03 | 43.1 | — | — | — | 52.5 | — | |
| BEVDet4DResolution=640x1600, Backbone=Swin-B, Venue=ArXiv, CBGS=true2024.03 | 42.6 | — | — | — | 55.2 | — | |
| GD-MAELabeled Frames Percentage=20%2025.12 | 42.6 | — | — | — | 48.8 | — | |
| HiP-AD2025.03 | 42.4 | — | — | — | 53.5 | — | |
| HiP-AD2026.04 | 42.4 | — | — | — | 53.5 | — | |
| BEVDet4DResolution=512x1408, Backbone=R101, Venue=ArXiv2024.03 | 42.1 | — | — | — | 54.5 | — | |
| BEVDetResolution=640x1600, Backbone=V2-99, Venue=ArXiv2024.03 | 42.1 | 29.6 | 61.7 | 48.2 | 48.2 | — | |
| PETRv2Resolution=640x1600, Backbone=R101, Venue=ICCV232024.03 | 42.1 | — | — | — | 52.4 | — | |
| BEVDepthResolution=512x1408, Backbone=R101, Venue=AAAI232024.03 | 41.8 | — | — | — | 53.8 | — | |
| SparseDrive-S2025.03 | 41.8 | — | — | — | 52.5 | — | |
| SparseDrive2026.04 | 41.8 | — | — | — | 52.5 | — | |
| BEVFormerResolution=900x1600, Backbone=R101, Venue=ECCV222024.03 | 41.5 | 27.7 | 48.5 | 34.5 | 51.7 | — | |
| ALSOLabeled Frames Percentage=20%2025.12 | 41.2 | — | — | — | 48.2 | — | |
| HoP+SeaBirdResolution=256x704, Backbone=R50, Venue=CVPR242024.03 | 41.1 | 28.2 | 58.6 | 47.8 | 51.5 | — | |
| DiFSD2025.03 | 41 | — | — | — | 52.8 | — | |
| EgoFSD2026.04 | 41 | — | — | — | 52.8 | — | |
| UniDriveVLA-LargeModel Size=Large2026.04 | 40.7 | — | — | — | 46 | — | |
| SOLOFusionResolution=256x704, Backbone=R50, Venue=ICLR232024.03 | 40.6 | 26.5 | 57.3 | 48.5 | 49.7 | — | |
| HoPResolution=256x704, Backbone=R50, Venue=ICCV232024.03 | 39.9 | 27.4 | 57.2 | 46.4 | 50.9 | — | |
| UniDriveVLA-BaseModel Size=Base2026.04 | 39.7 | — | — | — | 43.4 | — | |
| 3DPPEResolution=512x1408, Backbone=R101, Venue=ICCV232024.03 | 39.1 | — | — | — | 45.8 | — | |
| BEVerse-S+SeaBirdResolution=512x1408, Backbone=Swin-S, Venue=CVPR242024.03 | 38.2 | 24.6 | 58.7 | 45 | 51.3 | — | |
| UniAD2025.03 | 38 | — | — | — | 35.9 | — | |
| UniAD2026.04 | 38 | — | — | — | 35.9 | — | |
| PETRResolution=900x1600, Backbone=R101, Venue=ECCV222024.03 | 37 | — | — | — | 44.2 | — | |
| PGDResolution=900x1600, Backbone=R101, Venue=CoRL212024.03 | 36.9 | — | — | — | 42.8 | — | |
| BEVerse-SResolution=512x1408, Backbone=Swin-S, Venue=ArXiv2024.03 | 35.2 | 20.9 | 56.2 | 42.2 | 49.5 | — | |
| PETRv2Resolution=256x704, Backbone=R50, Venue=ICCV232024.03 | 34.9 | — | — | — | 45.6 | — | |
| DETR3DResolution=900x1600, Backbone=R101, Venue=CoRL212024.03 | 34.9 | 22.4 | 60.3 | 41.1 | 43.4 | — | |
| FCOS3DResolution=900x1600, Backbone=R101, Venue=ICCVW212024.03 | 34.4 | — | — | — | 41.5 | — | |
| BEVerse-T+SeaBirdResolution=256x704, Backbone=Swin-T, Venue=CVPR242024.03 | 33.8 | 19.5 | 54.2 | 41.1 | 48.1 | — | |
| BEVerse-TResolution=256x704, Backbone=Swin-T, Venue=ArXiv2024.03 | 32.1 | 18.5 | 53.4 | 38.8 | 46.6 | — | |
| CAPEResolution=256x704, Backbone=R50, Venue=CVPR232024.03 | 31.8 | 18.5 | 53.2 | 38.1 | 44.2 | — | |
| VAD2025.03 | 27.6 | — | — | — | 39.7 | — | |
| VAD2026.04 | 27.6 | — | — | — | 39.7 | — | |
| BEVGen2024.06 | — | — | 24.7 | — | — | 9.1 | |
| MagicD.2024.06 | — | — | 37.3 | — | — | 17.3 | |
| OracleModel=BEVFusion (single-frame)2024.06 | — | — | 47 | — | — | 21.4 | |
| SimGen2024.06 | — | — | 41 | — | — | 19.6 | |
| SimGen-nuScConditioning=nuScenes-style2024.06 | — | — | 39.1 | — | — | 18.1 |