Structured Occlusion Reasoning on nuScenes PKL-guided v1.0 (val)
70.8Agent Class AccuracyIntern-GPT
Evaluation results
| Method | Links | ||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Intern-GPTZero-shot=true2026.07 | 70.8 | 65.9 | 18.8 | 16.8 | 8 | 1.2 | 43.6 | 29.5 | 12 | 10.4 | 20.4 | 10.3 | 20.4 | 13.1 | 0 | 1.6 | 27.3 | 27.7 | 21 | 9.6 | |
| Intern-4BZero-shot=true2026.07 | 64.8 | 63.9 | 8.8 | 10.8 | 26.4 | 34.2 | 26.4 | 28 | 8.4 | 8.4 | 16.8 | 20.2 | 11.2 | 13.1 | 0 | 0.9 | 26.6 | 23.3 | 25.5 | 9.2 | |
| Intern-1BZero-shot=true2026.07 | 64.4 | 62.7 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.1 | 24.6 | 9.2 | 9 | 8.2 | |
| Qwen-72BZero-shot=true2026.07 | 51.6 | 56.5 | 20.4 | 12.5 | 64 | 58.7 | 62.4 | 58.3 | 34.8 | 32 | 36.4 | 32.3 | 38.4 | 33.8 | 0 | 1.2 | 26.6 | 44 | 40.6 | 9.3 | |
| Qwen-32BZero-shot=true2026.07 | 51.2 | 55.8 | 29.6 | 30.7 | 49.2 | 50.8 | 61.2 | 58.2 | 29.2 | 27.4 | 25.2 | 18.1 | 30 | 30.8 | 0 | 0.9 | 27 | 39.4 | 38.8 | 9.3 | |
| Gemma-4BZero-shot=true2026.07 | 50.4 | 55.8 | 26.8 | 23.7 | 8.8 | 1.4 | 43.6 | 33.3 | 16.8 | 16 | 48 | 39.4 | 38 | 35.8 | 0.8 | 1.1 | 22.4 | 33.2 | 29.3 | 8.1 | |
| Intern-8BZero-shot=true2026.07 | 49.6 | 54.4 | 24 | 22.7 | 62.8 | 56.3 | 64.8 | 61.7 | 26 | 22.4 | 54.8 | 38.8 | 24.8 | 20.1 | 0 | 1.3 | 27.1 | 43.8 | 39.5 | 9.5 | |
| Gemma-27BZero-shot=true2026.07 | 48.4 | 52.7 | 27.6 | 26.4 | 10.8 | 5.3 | 53.6 | 47.3 | 32.4 | 28.4 | 48.4 | 41.6 | 24 | 22.6 | 0 | 0.1 | 24.5 | 35 | 32 | 8.2 | |
| MiniCPMZero-shot=true2026.07 | 46.8 | 52.5 | 14.4 | 10.2 | 20.8 | 26.2 | 56.8 | 50.9 | 33.6 | 28.8 | 54.8 | 38.8 | 21.6 | 20.1 | 0 | 0 | 24.7 | 35.5 | 32.5 | 8.2 | |
| Qwen-7BZero-shot=true2026.07 | 43.2 | 50.1 | 25.2 | 22.9 | 12.4 | 9.3 | 50.8 | 37.4 | 24.8 | 20.4 | 19.2 | 7.4 | 35.2 | 32.4 | 0 | 0.3 | 25.3 | 30.1 | 25.7 | 8.5 | |
| Qwen-3BZero-shot=true2026.07 | 32.8 | 37.5 | 28 | 26.2 | 9.2 | 2.2 | 49.6 | 32.9 | 22 | 15.1 | 8.8 | 5.4 | 12.8 | 8.9 | 0 | 0 | 24.9 | 23.3 | 18.3 | 8.3 | |
| Intern-14BZero-shot=true2026.07 | 32.8 | 41.6 | 16.8 | 15.6 | 64.8 | 57.9 | 69.2 | 65.8 | 39.2 | 34 | 18.4 | 5.7 | 20.8 | 13.5 | 0 | 0.8 | 27.7 | 37.4 | 33.4 | 9.5 | |
| Intern-2BZero-shot=true2026.07 | 32.4 | 42.4 | 21.2 | 19 | 80 | 72.6 | 49.6 | 32.9 | 24.8 | 16.9 | 18.4 | 5.7 | 35.6 | 34.2 | 0 | 1.2 | 24.6 | 37.4 | 31.9 | 8.6 | |
| Gemma-12BZero-shot=true2026.07 | 30 | 39.1 | 28 | 26.3 | 7.6 | 2.9 | 46.4 | 42.5 | 22.8 | 22.1 | 34.4 | 31.7 | 17.6 | 12.2 | 0 | 0.7 | 24.2 | 26.7 | 25.3 | 8.3 | |
| Intern-38BZero-shot=true2026.07 | 22 | 29.5 | 9.6 | 4.3 | 71.2 | 60.5 | 60.8 | 55.1 | 36.8 | 31.6 | 19.2 | 8 | 15.2 | 8.3 | 0 | 1 | 27.8 | 33.5 | 28.2 | 9.6 | |
| DriveLMZero-shot=true2026.07 | 14.8 | 23.6 | 18 | 18.7 | 53.6 | 55.8 | 0.4 | 0.8 | 0 | 0 | 18.4 | 5.7 | 13.2 | 15.6 | 0 | 2.2 | 27.1 | 16.9 | 17.2 | 9.8 | |
| DriveMMZero-shot=true2026.07 | 0.4 | 0.8 | 0 | 0 | 0.4 | 0.8 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 27.5 | 0.1 | 0.2 | 9.2 | |
| DriveGPT4Zero-shot=true2026.07 | 0 | 0 | 46 | 31.1 | 71.2 | 59.2 | 42.4 | 26.6 | 2.8 | 3.7 | 18 | 5.6 | 30.8 | 27.6 | 0 | 0 | 0 | 30.2 | 22 | 0 |