# Object Detection on Waymo (mAP XY/XZ)

Source: [Object Detection on Waymo (mAP XY/XZ)](<https://www.sota2.com/research/sota/object-detection-on-waymo-map-xy-xz>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-26T14:47:49.133Z

Evaluation of Object Detection performance on the Waymo dataset, reporting Mean Average Precision across XY and XZ planes.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Object Detection |
| Dataset (including any stated split) | Waymo |
| Metric | mAP XY |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 7 of 7 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [mAP XY](<https://www.sota2.com/research/sota/object-detection-on-waymo-map-xy-xz.md?metric=mAP%20XY>): Higher is better; unit: PERCENT.

- [mAP XZ](<https://www.sota2.com/research/sota/object-detection-on-waymo-map-xy-xz.md?metric=mAP%20XZ>): Higher is better; unit: PERCENT.

## Recorded results

| Method | mAP XY | Result date | Report paper |
| --- | --- | --- | --- |
| Le MuMo JEPA | 23.6 | Not recorded | 69c4bdc00636e5bf4afc782b |
| LeJEPA | 19.3 | Not recorded | 69c4bdc00636e5bf4afc782b |
| LiDAR-only | 15.4 | Not recorded | 69c4bdc00636e5bf4afc782b |
| DINOv3 | 15.2 | Not recorded | 69c4bdc00636e5bf4afc782b |
| MultiMAE-MT | 13.7 | Not recorded | 69c4bdc00636e5bf4afc782b |
| MultiMAE-SS | 13.5 | Not recorded | 69c4bdc00636e5bf4afc782b |
| ImageBind | 13.4 | Not recorded | 69c4bdc00636e5bf4afc782b |

### Le MuMo JEPA

mAP XY: 23.6. Result ID: 69c546f447f34ce924af4b77.

[Reporting paper](<https://www.sota2.com/research/paper/69c4bdc00636e5bf4afc782b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69c4bdc00636e5bf4afc782b.md>)

Recorded evaluation configuration: {"Training Data":"RGB+Depth"}. This record does not assert independent reproduction.

### LeJEPA

mAP XY: 19.3. Result ID: 69c546f447f34ce924af4b71.

[Reporting paper](<https://www.sota2.com/research/paper/69c4bdc00636e5bf4afc782b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/691414922828b7cc6937ec28.md>)

Recorded evaluation configuration: {"Training Data":"RGB"}. This record does not assert independent reproduction.

### LiDAR-only

mAP XY: 15.4. Result ID: 69c546f447f34ce924af4b73.

[Reporting paper](<https://www.sota2.com/research/paper/69c4bdc00636e5bf4afc782b.md>)

Recorded evaluation configuration: {"Training Data":"Depth"}. This record does not assert independent reproduction.

### DINOv3

mAP XY: 15.2. Result ID: 69c546f447f34ce924af4b72.

[Reporting paper](<https://www.sota2.com/research/paper/69c4bdc00636e5bf4afc782b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7a931e209131cea83fc5.md>)

Recorded evaluation configuration: {"Training Data":"RGB"}. This record does not assert independent reproduction.

### MultiMAE-MT

mAP XY: 13.7. Result ID: 69c546f447f34ce924af4b75.

[Reporting paper](<https://www.sota2.com/research/paper/69c4bdc00636e5bf4afc782b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c291e209131cea32710.md>)

[Implementation](<https://multimae.epfl.ch/>)

Recorded evaluation configuration: {"Training Data":"RGB+Depth"}. This record does not assert independent reproduction.

### MultiMAE-SS

mAP XY: 13.5. Result ID: 69c546f447f34ce924af4b74.

[Reporting paper](<https://www.sota2.com/research/paper/69c4bdc00636e5bf4afc782b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c291e209131cea32710.md>)

[Implementation](<https://multimae.epfl.ch/>)

Recorded evaluation configuration: {"Training Data":"RGB+Depth"}. This record does not assert independent reproduction.

### ImageBind

mAP XY: 13.4. Result ID: 69c546f447f34ce924af4b76.

[Reporting paper](<https://www.sota2.com/research/paper/69c4bdc00636e5bf4afc782b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f971e209131cea467c4.md>)

[Implementation](<https://facebookresearch.github.io/ImageBind>)

Recorded evaluation configuration: {"Training Data":"RGB+Depth"}. This record does not assert independent reproduction.

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