OOD Detection on nuScenes OOD benchmark
31FPR @ TPR=95%DC-MMD
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| DC-MMDCategory=Sequential, Prediction Model=GRIP++2026.03 | 31 | 89 | — | — | |
| RescalingCenterPoint variant=Voxel2026.03 | 36.96 | 88.96 | 99.73 | 24.68 | |
| ALOODCenterPoint variant=Voxel2026.03 | 37.26 | 90.15 | 99.81 | 21.52 | |
| ALOODCenterPoint variant=Pillar2026.03 | 38.78 | 91.18 | 99.72 | 24.66 | |
| Mode-CUSUMCategory=Sequential, Prediction Model=GRIP++2026.03 | 43 | 82 | — | — | |
| MSPCenterPoint variant=Voxel2026.03 | 44.6 | 88.87 | 99.79 | 13.74 | |
| MSPCenterPoint variant=Pillar2026.03 | 45.99 | 90.44 | 99.71 | 19.26 | |
| GMM-CUSUMCategory=Sequential, Prediction Model=GRIP++2026.03 | 48 | 79 | — | — | |
| ODINCenterPoint variant=Voxel2026.03 | 48.63 | 87.82 | 99.77 | 11.05 | |
| G-CUSUMCategory=Sequential, Prediction Model=GRIP++2026.03 | 52 | 76 | — | — | |
| MaxLogitCenterPoint variant=Voxel2026.03 | 55.85 | 85.89 | 99.71 | 10.02 | |
| ODINCenterPoint variant=Pillar2026.03 | 56.46 | 88.84 | 99.66 | 14.37 | |
| Default ScoreCenterPoint variant=Voxel2026.03 | 63 | 85.1 | 99.7 | 7.91 | |
| lGMMCategory=Point-wise (UQ-based), Prediction Model=GRIP++2026.03 | 65 | 69 | — | — | |
| RescalingCenterPoint variant=Pillar2026.03 | 66.74 | 84.17 | 99.48 | 10.17 | |
| MaxLogitCenterPoint variant=Pillar2026.03 | 66.9 | 85.64 | 99.54 | 11.22 | |
| Default ScoreCenterPoint variant=Pillar2026.03 | 70.48 | 85.21 | 99.54 | 10.2 | |
| NLLCategory=Point-wise (UQ-based), Prediction Model=GRIP++2026.03 | 71 | 64 | — | — | |
| EnergyCenterPoint variant=Voxel2026.03 | 73.8 | 82.15 | 99.64 | 5.27 | |
| EnergyCenterPoint variant=Pillar2026.03 | 89.17 | 78.76 | 99.33 | 5.72 |