Outdoor Semantic Segmentation on Waymo (val)
72.9mIoUSonata
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| SonataEvaluation Protocol=full fine-tuning2025.03 | 72.9 | 81.9 | 94.9 | |
| SonataLearn.=124.8M, Pct.=100%, Evaluation Protocol=f.t.2026.03 | 72.9 | 81.9 | 94.9 | |
| DoReMi2025.11 | 72.7 | 82.7 | 94.8 | |
| PPTSupervision=supervised2025.03 | 72.1 | 81.3 | 94.8 | |
| Sonatareproduction=reproduced from official repository2025.11 | 72.1 | 82.6 | 94.8 | |
| UtoniaLearn.=157.7M, Pct.=100%, Evaluation Protocol=f.t.2026.03 | 71.4 | 80 | 91.8 | |
| PTv3Supervision=supervised2025.03 | 71.3 | 80.5 | 94.7 | |
| PTv3Learn.=124.8M, Pct.=100%2026.03 | 71.3 | 80.5 | 94.7 | |
| PTv32025.11 | 71.3 | 80.5 | 94.7 | |
| SonataEvaluation Protocol=decoder probing2025.03 | 70.8 | 78.8 | 94.3 | |
| ConcertoLearn.=20.5M, Pct.=13%, Evaluation Protocol=dec.2026.03 | 69.4 | 79.8 | 91.1 | |
| UtoniaLearn.=20.5M, Pct.=13%, Evaluation Protocol=dec.2026.03 | 69.4 | 79.7 | 91.4 | |
| ConcertoLearn.=157.7M, Pct.=100%, Evaluation Protocol=f.t.2026.03 | 69.2 | 77.8 | 91.6 | |
| SonataLearn.=16.3M, Pct.=13%, Evaluation Protocol=dec.2026.03 | 69.1 | 78.8 | 94.3 | |
| UtoniaLearn.=<0.2M, Pct.=<0.2%, Evaluation Protocol=lin.2026.03 | 63.8 | 75.4 | 89.9 | |
| ConcertoLearn.=<0.2M, Pct.=<0.2%, Evaluation Protocol=lin.2026.03 | 62.2 | 74.4 | 89.4 | |
| SonataEvaluation Protocol=linear probing2025.03 | 60.5 | 72.5 | 92.5 | |
| SonataLearn.=<0.2M, Pct.=<0.2%, Evaluation Protocol=lin.2026.03 | 60.5 | 72.5 | 92.5 |