Semantic Segmentation on Waymo Open Dataset (val)
73.9mIoUDOS
Evaluation results
| Method | Links | |||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DOSProtocol=Fine-Tuning, Additional Data=true2025.12 | 73.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 83.9 | |
| LidarMultiNet2024.05 | 73.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DITRModality=2D-3D fusion2025.03 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DOSProtocol=Fine-Tuning, Additional Data=false2025.12 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 83.8 | |
| LitePT-S#Params=12.7M2025.12 | 73.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 83.8 | |
| SonataModality=3D-only2025.03 | 72.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SonataProtocol=Fine-Tuning, Additional Data=true2025.12 | 72.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 81.9 | |
| Flash3DConstraint=Same memory cost as PTv32024.12 | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 81.6 | |
| M3Net2024.05 | 72.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 81.1 | |
| NOMAESSL pretraining=true2025.02 | 72.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 82.5 | |
| NOMAEProtocol=Fine-Tuning, Additional Data=false2025.12 | 72.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 82.5 | |
| PTv3Training Protocol=Multi-dataset joint training (PPT [92])2023.12 | 72.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 81.3 | |
| PPT + PTv3Params.=46.3M, Training Protocol=supervised pre-training (fine-tuned)2023.08 | 72.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 81.3 | |
| D-DITRProtocol=Fine-Tuning, Additional Data=false2025.12 | 72.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Flash3DConstraint=Same parameters as PTv32024.12 | 71.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.9 | |
| PTv3Modality=3D-only, Evaluation setup=reproduced2025.03 | 71.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3Training Protocol=Trained from scratch2023.12 | 71.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.5 | |
| PTv3Params.=46.2M2023.08 | 71.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.5 | |
| PTv32024.12 | 71.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.5 | |
| PTv3SSL pretraining=false2025.02 | 71.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.5 | |
| PTv3Modality=3D-only2025.03 | 71.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3#Params=46.1M2025.12 | 71.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.5 | |
| PTv3Protocol=Supervised, Additional Data=false2025.12 | 71.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.5 | |
| PTv2Training Protocol=Trained from scratch2023.12 | 70.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.2 | |
| PTv2+2024.05 | 70.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.2 | |
| PTv22024.12 | 70.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.2 | |
| PTv2SSL pretraining=false2025.02 | 70.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.2 | |
| PTv2Modality=3D-only2025.03 | 70.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv2#Params=12.8M2025.12 | 70.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.2 | |
| PPT + SparseUNetParams.=41.0M, Training Protocol=supervised pre-training (fine-tuned)2023.08 | 70.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 78.9 | |
| PPT + SparseUNetParams.=41.0M, Training Protocol=supervised joint training2023.08 | 70 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 79.1 | |
| SphereFormer2023.03 | 69.9 | 70.3 | 68.6 | 61.9 | 94.5 | 61.6 | 87.7 | 40.2 | 0.9 | 69.7 | 90.2 | 73.9 | 41.8 | 77.2 | 65.4 | 71.9 | 83.7 | 95.9 | 91.7 | 68.4 | 69.8 | 93.3 | 53.9 | 47.9 | 80.8 | 77.2 | — | |
| SphereFormerTraining Protocol=Trained from scratch2023.12 | 69.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormer2024.05 | 69.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerParams.=32.3M2023.08 | 69.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormer2024.12 | 69.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerSSL pretraining=false2025.02 | 69.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerModality=3D-only2025.03 | 69.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormer2025.12 | 69.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniSeg2023.09 | 69.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MSeg3DModality=2D-3D fusion2025.03 | 69.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVCNNour implementation=true2023.09 | 67.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNAS2024.05 | 67.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DOSProtocol=Linear Probing, Additional Data=true2025.12 | 67 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 77.7 | |
| SparseConv2023.03 | 66.6 | 67.8 | 64.1 | 52.6 | 94.4 | 59.8 | 85.1 | 37.8 | 2.2 | 69.1 | 89.3 | 73.4 | 40.4 | 74.8 | 57.3 | 66.6 | 75.2 | 95.5 | 91.3 | 67 | 68.1 | 92.3 | 41.7 | 30.1 | 79 | 75.6 | — | |
| DOSProtocol=Linear Probing, Additional Data=false2025.12 | 66.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 77.1 | |
| Cylinder3Dour implementation=true2023.09 | 66 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| (AF)2-S3Net2024.05 | 66 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkUNetTraining Protocol=Trained from scratch2023.12 | 65.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76.6 | |
| MinkUNet2024.05 | 65.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76.6 | |
| SparseUNetParams.=39.2M2023.08 | 65.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76.6 | |
| MinkUNet2024.12 | 65.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76.6 | |
| MinkUNetSSL pretraining=false2025.02 | 65.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76.6 | |
| MinkUNetModality=3D-only2025.03 | 65.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkUNet#Params=39.2M2025.12 | 65.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76.6 | |
| Point Transformerour implementation=true2023.09 | 63.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SonataProtocol=Linear Probing, Additional Data=true2025.12 | 60.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 72.5 | |
| NOMAEProtocol=Linear Probing, Additional Data=false2025.12 | 59.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 69.9 | |
| SealData Percentage=1%2023.06 | 49.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPKTData Percentage=1%2023.06 | 47.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SLidRData Percentage=1%2023.06 | 47.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ST-SLidRData Percentage=1%2023.06 | 44.93 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandomData Percentage=1%2023.06 | 39.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |