Point cloud forecasting on nuScenes (CD 0.5s-3.0s)
0.47Chamfer Distance (1.0s)LRS4Fusion
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| LRS4FusionHistory Horizon=3s, Modality=C+L2026.07 | 0.47 | 0.33 | 0.61 | 0.77 | 0.97 | 1.23 | |
| LRS4FusionHistory Horizon=1s, Modality=C+L2026.07 | 0.48 | 0.31 | 0.64 | 0.79 | 0.99 | 1.25 | |
| CRISPHistory Horizon=3s, Modality=C+R2026.07 | 0.51 | 0.44 | 0.58 | 0.65 | 0.74 | 0.84 | |
| CRISPHistory Horizon=1s, Modality=C+R2026.07 | 0.53 | 0.47 | 0.6 | 0.68 | 0.76 | 0.86 | |
| LRS4FusionHistory Horizon=0s, Modality=C+L2026.07 | 0.57 | 0.35 | 0.75 | 0.96 | 1.21 | 1.51 | |
| CRISPHistory Horizon=0s, Modality=C+R2026.07 | 0.59 | 0.52 | 0.67 | 0.74 | 0.82 | 0.91 | |
| HERMESHistory Horizon=0s, Modality=C2026.07 | 0.78 | — | — | 0.95 | — | 1.17 | |
| ViDARHistory Horizon=3s, Modality=C2026.07 | 1.12 | 1.01 | 1.25 | 1.38 | 1.54 | 1.73 | |
| 4D-OccHistory Horizon=3s, Modality=L2026.07 | 1.13 | 0.91 | 1.3 | 1.53 | 1.72 | 2.11 | |
| ViDARHistory Horizon=1s, Modality=C2026.07 | 1.25 | 1.11 | 1.4 | 1.57 | 1.76 | 1.97 | |
| 4D-OccHistory Horizon=1s, Modality=L2026.07 | 1.88 | 1.26 | — | — | — | — |