# Semantic Segmentation on nuScenes lidarseg v1.0 (val) Source: [Semantic Segmentation on nuScenes lidarseg v1.0 (val)]() Collection index: [llms.txt]() Data updated: 2026-02-26T06:10:16.495Z Evaluation of Semantic Segmentation performance using the nuScenes lidarseg v1.0 validation split, reporting Mean Intersection over Union (mIoU). 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 lidarseg v1.0 (val) | | Metric | mIoU | | Unit | PERCENT | | Direction | Higher 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 - [mIoU](): Higher is better; unit: PERCENT. ## Recorded results | Method | mIoU | Result date | Report paper | | --- | --- | --- | --- | | PolarMix† | 72.1 | Not recorded | 68fa6d1c1e209131cea37cf7 | | PolarMix† | 72 | Not recorded | 68fa6d1c1e209131cea37cf7 | | CutMix† | 71.7 | Not recorded | 68fa6d1c1e209131cea37cf7 | | Copy-Paste | 71.3 | Not recorded | 68fa6d1c1e209131cea37cf7 | | Copy-Paste | 70.8 | Not recorded | 68fa6d1c1e209131cea37cf7 | | Mix3D† | 70.5 | Not recorded | 68fa6d1c1e209131cea37cf7 | | CutMix† | 70.4 | Not recorded | 68fa6d1c1e209131cea37cf7 | | CGA | 70.2 | Not recorded | 68fa6d1c1e209131cea37cf7 | | Mix3D† | 70.1 | Not recorded | 68fa6d1c1e209131cea37cf7 | | CGA | 69.1 | Not recorded | 68fa6d1c1e209131cea37cf7 | | Baseline | 68.4 | Not recorded | 68fa6d1c1e209131cea37cf7 | | Baseline | 67.1 | Not recorded | 68fa6d1c1e209131cea37cf7 | ### PolarMix† mIoU: 72.1. Result ID: 698f7ee93a6c314849f94c4d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"SPVCNN","Data Augmentation":"Local DA + CGA"}. This record does not assert independent reproduction. ### PolarMix† mIoU: 72. Result ID: 698f7ee93a6c314849f94c47. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"MinkNet","Data Augmentation":"Local DA + CGA"}. This record does not assert independent reproduction. ### CutMix† mIoU: 71.7. Result ID: 698f7ee93a6c314849f94c4a. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"SPVCNN","Data Augmentation":"Local DA + CGA"}. This record does not assert independent reproduction. ### Copy-Paste mIoU: 71.3. Result ID: 698f7ee93a6c314849f94c4b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"SPVCNN","Data Augmentation":"Local DA + CGA"}. This record does not assert independent reproduction. ### Copy-Paste mIoU: 70.8. Result ID: 698f7ee93a6c314849f94c45. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"MinkNet","Data Augmentation":"Local DA + CGA"}. This record does not assert independent reproduction. ### Mix3D† mIoU: 70.5. Result ID: 698f7ee93a6c314849f94c4c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"SPVCNN","Data Augmentation":"Local DA + CGA"}. This record does not assert independent reproduction. ### CutMix† mIoU: 70.4. Result ID: 698f7ee93a6c314849f94c44. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"MinkNet","Data Augmentation":"Local DA + CGA"}. This record does not assert independent reproduction. ### CGA mIoU: 70.2. Result ID: 698f7ee93a6c314849f94c43. [Reporting paper]() Recorded evaluation configuration: {"Backbone":"MinkNet","Data Augmentation":"Conventional Global Augmentation"}. This record does not assert independent reproduction. ### Mix3D† mIoU: 70.1. Result ID: 698f7ee93a6c314849f94c46. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"MinkNet","Data Augmentation":"Local DA + CGA"}. This record does not assert independent reproduction. ### CGA mIoU: 69.1. Result ID: 698f7ee93a6c314849f94c49. [Reporting paper]() Recorded evaluation configuration: {"Backbone":"SPVCNN","Data Augmentation":"Conventional Global Augmentation"}. This record does not assert independent reproduction. ### Baseline mIoU: 68.4. Result ID: 698f7ee93a6c314849f94c48. [Reporting paper]() Recorded evaluation configuration: {"Backbone":"SPVCNN","Data Augmentation":"None"}. This record does not assert independent reproduction. ### Baseline mIoU: 67.1. Result ID: 698f7ee93a6c314849f94c42. [Reporting paper]() Recorded evaluation configuration: {"Backbone":"MinkNet","Data Augmentation":"None"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.