Point Cloud Forecasting on nuScenes (val)
0.5CD (0.5s)LaGen (w/ BBox)
Evaluation results
| Method | Links | ||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| LaGen (w/ BBox)Input frames=1, Bounding Box (BBox) usage=true2025.11 | 0.5 | — | — | — | — | — | 0.72 | — | — | — | 1.25 | 1.69 | 2.09 | 2.34 | 0.13 | 0.18 | 0.24 | 0.28 | 0.3 | 0.32 | 2.04 | 2.47 | 3.03 | 3.4 | 3.63 | 3.61 | |
| LaGen (w/o BBox)Input frames=1, Bounding Box (BBox) usage=false2025.11 | 0.65 | — | — | — | — | — | 0.93 | — | — | — | 1.44 | 1.98 | 2.39 | 2.78 | 0.14 | 0.2 | 0.26 | 0.31 | 0.36 | 0.4 | 2.15 | 2.66 | 3.23 | 3.73 | 4.22 | 4.42 | |
| 4D-OccHistory Horizon=3s, Modality=L2023.12 | 0.91 | — | — | — | — | 1.13 | 1.3 | 1.53 | 1.72 | 2.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ViDARHistory Horizon=3s, Modality=C2023.12 | 1.01 | — | — | — | — | 1.12 | 1.25 | 1.38 | 1.54 | 1.73 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 4D-OccInput frames=6, Rolling inference=true2025.11 | 1.1 | — | — | — | — | — | 1.33 | — | — | — | 2.41 | 7.73 | 12.82 | 21.08 | 1.23 | 1.62 | 2.6 | 3.48 | 4.74 | 6.49 | 8.41 | 12.15 | 22.16 | 29.2 | 35.78 | 39.5 | |
| ViDARHistory Horizon=1s, Modality=C2023.12 | 1.11 | — | — | — | — | 1.25 | 1.4 | 1.57 | 1.76 | 1.97 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ViDARInput frames=6, Visual inputs usage=true2025.11 | 1.14 | — | — | — | — | — | 1.47 | — | — | — | 2.3 | 3.25 | 4.12 | 5.06 | 2.15 | 2.6 | 3.06 | 3.49 | 3.91 | 4.42 | 17.98 | 20.57 | 25.87 | 30.18 | 33.77 | 38.34 | |
| 4D-OccInput frames=2, Rolling inference=true2025.11 | 1.15 | — | — | — | — | — | 1.84 | — | — | — | 4.3 | 12.3 | 25.11 | 55.47 | 1.24 | 2.04 | 3.41 | 4.87 | 7.07 | 9.95 | 8.88 | 14.82 | 25.36 | 40.14 | 56.24 | 67.37 | |
| ViDARInput frames=2, Visual inputs usage=true2025.11 | 1.15 | — | — | — | — | — | 1.56 | — | — | — | 2.5 | 3.79 | 5.18 | 6.37 | 2.38 | 2.7 | 3.34 | 4.24 | 5.4 | 6.06 | 16.29 | 19.96 | 27.34 | 36.25 | 48.61 | 54.13 | |
| 4D-OccHistory Horizon=1s, Modality=L2023.12 | 1.26 | — | — | — | — | 1.88 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 4D Occupancy ForecastingHorizon=1s2023.02 | — | 1.4 | 10.37 | 1.41 | 2.81 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 4D Occupancy ForecastingHorizon=3s2023.02 | — | 1.71 | 13.48 | 1.4 | 4.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Ray tracingHorizon=1s2023.02 | — | 1.5 | 14.73 | 0.54 | 0.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Ray tracingHorizon=3s2023.02 | — | 2.44 | 26.86 | 1.66 | 3.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| S2NetHorizon=1s2023.02 | — | 3.49 | 28.38 | 1.7 | 2.75 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| S2NetHorizon=3s2023.02 | — | 4.78 | 30.15 | 2.06 | 3.47 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPFNetHorizon=1s2023.02 | — | 4.58 | 34.87 | 2.24 | 4.17 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPFNetHorizon=3s2023.02 | — | 5.11 | 32.74 | 2.5 | 4.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |