# Semantic Segmentation on nuScenes-C Robo3D 1.0 (val)

Source: [Semantic Segmentation on nuScenes-C Robo3D 1.0 (val)](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-robo3d-1-0-val>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T06:10:06.567Z

Evaluation of Semantic Segmentation performance on the nuScenes-C Robo3D 1.0 validation set, focusing on metrics related to environmental conditions (e.g., Fog, Wet, Snow).

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Semantic Segmentation |
| Dataset (including any stated split) | nuScenes-C Robo3D 1.0 (val) |
| Metric | mCE |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 12 of 12 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [mCE](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-robo3d-1-0-val.md?metric=mCE>): Lower is better; unit: SCALAR.

- [mRR](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-robo3d-1-0-val.md?metric=mRR>): Higher is better; unit: PERCENT.

- [Fog Error](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-robo3d-1-0-val.md?metric=Fog%20Error>): Lower is better; unit: SCALAR.

- [Wet Error](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-robo3d-1-0-val.md?metric=Wet%20Error>): Lower is better; unit: SCALAR.

- [Snow Error](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-robo3d-1-0-val.md?metric=Snow%20Error>): Lower is better; unit: SCALAR.

- [Move Error](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-robo3d-1-0-val.md?metric=Move%20Error>): Lower is better; unit: SCALAR.

- [Beam Error](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-robo3d-1-0-val.md?metric=Beam%20Error>): Lower is better; unit: SCALAR.

- [Cross Error](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-robo3d-1-0-val.md?metric=Cross%20Error>): Lower is better; unit: SCALAR.

- [Echo Error](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-robo3d-1-0-val.md?metric=Echo%20Error>): Lower is better; unit: SCALAR.

- [Sensor Error](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-robo3d-1-0-val.md?metric=Sensor%20Error>): Lower is better; unit: SCALAR.

## Recorded results

| Method | mCE | Result date | Report paper |
| --- | --- | --- | --- |
| Seal | 92.63 | Not recorded | 68fa70f81e209131cea4e738 |
| Random | 105.56 | Not recorded | 68fa70f81e209131cea4e738 |
| PPKT | 105.64 | Not recorded | 68fa70f81e209131cea4e738 |
| SLidR | 106.08 | Not recorded | 68fa70f81e209131cea4e738 |
| Random | 106.65 | Not recorded | 68fa70f81e209131cea4e738 |
| Random | 106.73 | Not recorded | 68fa70f81e209131cea4e738 |
| Random | 112.2 | Not recorded | 68fa70f81e209131cea4e738 |
| Random | 112.79 | Not recorded | 68fa70f81e209131cea4e738 |
| Random | 115.09 | Not recorded | 68fa70f81e209131cea4e738 |
| Seal | 166.18 | Not recorded | 68fa70f81e209131cea4e738 |
| SLidR | 179.38 | Not recorded | 68fa70f81e209131cea4e738 |
| PPKT | 183.44 | Not recorded | 68fa70f81e209131cea4e738 |

### Seal

mCE: 92.63. Result ID: 699169453a6c31484907f8bd.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70f81e209131cea4e738.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70f81e209131cea4e738.md>)

[Implementation](<https://github.com/youquanl/Segment-Any-Point-Cloud.>)

Recorded evaluation configuration: {"Initial":"Full","Backbone":"MinkUNet"}. This record does not assert independent reproduction.

### Random

mCE: 105.56. Result ID: 699169453a6c31484907f8b8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70f81e209131cea4e738.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65dd1e209131cea0ceeb.md>)

[Implementation](<https://github.com/StanfordVL/MinkowskiEngine>)

Recorded evaluation configuration: {"Initial":"Full","Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### PPKT

mCE: 105.64. Result ID: 699169453a6c31484907f8bb.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70f81e209131cea4e738.md>)

Recorded evaluation configuration: {"Initial":"Full","Backbone":"MinkUNet"}. This record does not assert independent reproduction.

### SLidR

mCE: 106.08. Result ID: 699169453a6c31484907f8bc.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70f81e209131cea4e738.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c191e209131cea3226f.md>)

Recorded evaluation configuration: {"Initial":"Full","Backbone":"MinkUNet"}. This record does not assert independent reproduction.

### Random

mCE: 106.65. Result ID: 699169453a6c31484907f8b9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70f81e209131cea4e738.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65dd1e209131cea0ceeb.md>)

[Implementation](<https://github.com/StanfordVL/MinkowskiEngine>)

Recorded evaluation configuration: {"Initial":"Full","Backbone":"SPVCNN"}. This record does not assert independent reproduction.

### Random

mCE: 106.73. Result ID: 699169453a6c31484907f8b7.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70f81e209131cea4e738.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65dd1e209131cea0ceeb.md>)

[Implementation](<https://github.com/StanfordVL/MinkowskiEngine>)

Recorded evaluation configuration: {"Initial":"Full","Backbone":"WaffleIron"}. This record does not assert independent reproduction.

### Random

mCE: 112.2. Result ID: 699169453a6c31484907f8ba.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70f81e209131cea4e738.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65dd1e209131cea0ceeb.md>)

[Implementation](<https://github.com/StanfordVL/MinkowskiEngine>)

Recorded evaluation configuration: {"Initial":"Full","Backbone":"MinkUNet"}. This record does not assert independent reproduction.

### Random

mCE: 112.79. Result ID: 699169453a6c31484907f8b6.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70f81e209131cea4e738.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65dd1e209131cea0ceeb.md>)

[Implementation](<https://github.com/StanfordVL/MinkowskiEngine>)

Recorded evaluation configuration: {"Initial":"Full","Backbone":"CENet"}. This record does not assert independent reproduction.

### Random

mCE: 115.09. Result ID: 699169453a6c31484907f8b5.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70f81e209131cea4e738.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65dd1e209131cea0ceeb.md>)

[Implementation](<https://github.com/StanfordVL/MinkowskiEngine>)

Recorded evaluation configuration: {"Initial":"Full","Backbone":"PolarNet"}. This record does not assert independent reproduction.

### Seal

mCE: 166.18. Result ID: 699169453a6c31484907f8b4.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70f81e209131cea4e738.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70f81e209131cea4e738.md>)

[Implementation](<https://github.com/youquanl/Segment-Any-Point-Cloud.>)

Recorded evaluation configuration: {"Initial":"LP","Backbone":"MinkUNet"}. This record does not assert independent reproduction.

### SLidR

mCE: 179.38. Result ID: 699169453a6c31484907f8b3.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70f81e209131cea4e738.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c191e209131cea3226f.md>)

Recorded evaluation configuration: {"Initial":"LP","Backbone":"MinkUNet"}. This record does not assert independent reproduction.

### PPKT

mCE: 183.44. Result ID: 699169453a6c31484907f8b2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70f81e209131cea4e738.md>)

Recorded evaluation configuration: {"Initial":"LP","Backbone":"MinkUNet"}. This record does not assert independent reproduction.

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