Scene Flow Estimation on Argoverse 2 (test)
0.113Dyn Norm EPE (Mean)ΔFlow
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ΔFlowSupervision=Supervised2025.11 | 0.113 | 0.0211 | 0.0433 | 0.0137 | 0.0064 | — | 0.077 | 0.129 | 0.149 | — | — | 0.096 | |
| ΔFlow (UniFlow, Ours)Supervision=Supervised2025.11 | 0.118 | 0.0207 | 0.0441 | 0.0126 | 0.0054 | — | 0.073 | 0.136 | 0.164 | — | — | 0.098 | |
| EulerFlow#F=all, Runtime per seq=1440m2026.02 | 0.13 | 0.0423 | 0.0498 | 0.0245 | 0.0525 | — | 0.093 | 0.141 | 0.195 | — | — | 0.093 | |
| EulerFlowSupervision=Unsupervised2025.11 | 0.13 | 0.0423 | 0.0498 | 0.0245 | 0.0525 | — | 0.093 | 0.141 | 0.195 | — | — | 0.093 | |
| Flow4D-XL (UniFlow, Ours)Supervision=Supervised2025.11 | 0.132 | 0.0207 | 0.045 | 0.0131 | 0.004 | — | 0.072 | 0.131 | 0.218 | — | — | 0.107 | |
| Flow4DSupervision=Supervised2025.11 | 0.145 | 0.0224 | 0.0494 | 0.0131 | 0.0047 | — | 0.087 | 0.15 | 0.216 | — | — | 0.127 | |
| Floxels#F=13, Runtime per seq=24m2026.02 | 0.154 | 0.0357 | 0.0773 | 0.0144 | 0.0154 | — | 0.112 | 0.213 | 0.195 | — | — | 0.096 | |
| SSF (UniFlow, Ours)Supervision=Supervised2025.11 | 0.156 | 0.0223 | 0.0489 | 0.0131 | 0.0051 | — | 0.102 | 0.147 | 0.241 | — | — | 0.134 | |
| Flow4DLabels=true2025.03 | 0.174 | 0.025 | 0.057 | 0.015 | 0.003 | — | 0.096 | 0.167 | 0.278 | 0.155 | 0.012 | — | |
| SSFSupervision=Supervised2025.11 | 0.181 | 0.0273 | 0.0572 | 0.0176 | 0.0072 | — | 0.099 | 0.162 | 0.292 | — | — | 0.169 | |
| TeFlow#F=5, Runtime per seq=8s2026.02 | 0.205 | 0.0357 | 0.0853 | 0.0149 | 0.007 | — | 0.163 | 0.227 | 0.253 | — | — | 0.177 | |
| SeFlow++#F=3, Runtime per seq=10s2026.02 | 0.264 | 0.044 | 0.1099 | 0.0144 | 0.0079 | — | 0.209 | 0.272 | 0.367 | — | — | 0.21 | |
| TrackFlowLabels=true2025.03 | 0.269 | 0.047 | 0.103 | 0.037 | 0.002 | — | 0.182 | 0.305 | 0.358 | 0.23 | 0.045 | — | |
| TrackFlowSupervision=Supervised2025.11 | 0.269 | 0.0473 | 0.103 | 0.0365 | 0.0024 | — | 0.182 | 0.305 | 0.358 | — | — | 0.23 | |
| DeFlowLabels=true2025.03 | 0.276 | 0.034 | 0.073 | 0.025 | 0.004 | — | 0.113 | 0.228 | 0.496 | 0.266 | 0.022 | — | |
| DeFlowSupervision=Supervised2025.11 | 0.276 | 0.0343 | 0.0732 | 0.0251 | 0.0046 | — | 0.113 | 0.228 | 0.496 | — | — | 0.266 | |
| VoteFlowLabels=false2025.03 | 0.289 | 0.046 | 0.114 | 0.018 | 0.006 | — | 0.202 | 0.288 | 0.417 | 0.249 | 0.014 | — | |
| VoteFlow#F=2, Runtime per seq=13s2026.02 | 0.289 | 0.0461 | 0.1144 | 0.0178 | 0.006 | — | 0.202 | 0.288 | 0.417 | — | — | 0.249 | |
| SeFlowLabels=false2025.03 | 0.309 | 0.049 | 0.121 | 0.022 | 0.006 | — | 0.214 | 0.292 | 0.463 | 0.267 | 0.014 | — | |
| SeFlow#F=2, Runtime per seq=7.2s2026.02 | 0.309 | 0.0486 | 0.1214 | 0.0184 | 0.006 | — | 0.214 | 0.291 | 0.464 | — | — | 0.265 | |
| SeFlowSupervision=Unsupervised2025.11 | 0.309 | 0.0486 | 0.1214 | 0.0184 | 0.006 | — | 0.214 | 0.291 | 0.464 | — | — | 0.265 | |
| ICP-FlowLabels=false2025.03 | 0.331 | 0.065 | 0.137 | 0.033 | 0.025 | — | 0.195 | 0.331 | 0.435 | 0.363 | 0.027 | — | |
| ICP-Flow#F=22026.02 | 0.331 | 0.065 | 0.1369 | 0.0332 | 0.025 | — | 0.195 | 0.331 | 0.435 | — | — | 0.363 | |
| SemanticFlow#F=22026.02 | 0.331 | 0.0469 | 0.1226 | 0.0141 | 0.004 | — | 0.21 | 0.31 | 0.524 | — | — | 0.279 | |
| ICP FlowSupervision=Unsupervised2025.11 | 0.331 | 0.065 | 0.1369 | 0.0332 | 0.025 | — | 0.195 | 0.331 | 0.435 | — | — | 0.363 | |
| FastNSFLabels=false2025.03 | 0.383 | 0.112 | 0.163 | 0.081 | 0.091 | — | 0.269 | 0.413 | 0.5 | 0.325 | 0.074 | — | |
| FastNSF#F=2, Runtime per seq=12m2026.02 | 0.383 | 0.1118 | 0.1634 | 0.0814 | 0.0907 | — | 0.296 | 0.413 | 0.5 | — | — | 0.322 | |
| FastNSFSupervision=Unsupervised2025.11 | 0.383 | 0.1118 | 0.1634 | 0.0814 | 0.0907 | — | 0.296 | 0.413 | 0.5 | — | — | 0.322 | |
| NSFPLabels=false2025.03 | 0.422 | 0.061 | 0.116 | 0.032 | 0.034 | — | 0.251 | 0.331 | 0.723 | 0.383 | 0.028 | — | |
| NSFP#F=2, Runtime per seq=60m2026.02 | 0.422 | 0.0606 | 0.1158 | 0.0316 | 0.0344 | — | 0.251 | 0.331 | 0.722 | — | — | 0.383 | |
| NSFPSupervision=Unsupervised2025.11 | 0.422 | 0.0606 | 0.1158 | 0.0316 | 0.0344 | — | 0.251 | 0.331 | 0.722 | — | — | 0.383 | |
| ZeroFlow#F=3, Runtime per seq=5.4s2026.02 | 0.439 | 0.0494 | 0.1177 | 0.0174 | 0.0131 | — | 0.238 | 0.258 | 0.808 | — | — | 0.452 | |
| FastFlow3DLabels=true2025.03 | 0.532 | 0.062 | 0.156 | 0.024 | 0.005 | — | 0.243 | 0.391 | 0.982 | 0.514 | 0.018 | — | |
| ZeroFlowLabels=false2025.03 | 0.594 | — | — | — | — | — | 0.327 | 0.476 | 0.966 | 0.608 | 0.02 | — | |
| TeFlow + TrackCuetrained_on=Argoverse 22026.05 | 0.6057 | — | — | — | — | — | — | — | — | — | — | — | |
| TeFlowtrained_on=Argoverse 22026.05 | 0.6125 | — | — | — | — | — | — | — | — | — | — | — | |
| SeFlow++ + TrackCuetrained_on=Argoverse 22026.05 | 0.6619 | — | — | — | — | — | — | — | — | — | — | — | |
| SeFlow++trained_on=Argoverse 22026.05 | 0.7025 | — | — | — | — | — | — | — | — | — | — | — | |
| SeFlow + TrackCuetrained_on=Argoverse 22026.05 | 0.7344 | — | — | — | — | — | — | — | — | — | — | — | |
| SeFlowtrained_on=Argoverse 22026.05 | 0.7367 | — | — | — | — | — | — | — | — | — | — | — | |
| Ego Motion Flow2026.02 | 1 | 0.1813 | 0.5335 | 0.0103 | 0 | — | 1 | 1 | 1 | — | — | 1 | |
| DeFlowSupervision=Supervised, Real-time (10 Hz)=true2024.07 | — | 0.0534 | 0.134 | 0.0232 | 0.0029 | 484 | — | — | — | — | — | — | |
| FastFlow3DSupervision=Supervised, Real-time (10 Hz)=true2024.07 | — | 0.0782 | 0.2072 | 0.0253 | 0.002 | 345 | — | — | — | — | — | — | |
| FastNSFSupervision=Self-supervised, Real-time (10 Hz)=false2024.07 | — | 0.1657 | 0.354 | 0.0406 | 0.1025 | 507,312 | — | — | — | — | — | — | |
| NSFPSupervision=Self-supervised, Real-time (10 Hz)=false2024.07 | — | 0.0685 | 0.1503 | 0.0302 | 0.0248 | — | — | — | — | — | — | — | |
| SeFlowSupervision=Self-supervised, Real-time (10 Hz)=true2024.07 | — | 0.0628 | 0.1525 | 0.0321 | 0.0038 | 484 | — | — | — | — | — | — | |
| ZeroFlowSupervision=Self-supervised, Real-time (10 Hz)=true2024.07 | — | 0.0814 | 0.2109 | 0.0254 | 0.008 | 345 | — | — | — | — | — | — |