Surface Normal Prediction on NYU v2
13.34Mean ErrorMTML
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| MTMLParameters=88M2022.10 | 13.34 | 10.24 | 52.4 | 76.17 | 88.51 | — | — | — | — | |
| NDDR-CNN-ShortcutBackbone=VGG-16-Shortcut2018.01 | 13.5 | 9.8 | 55.3 | 80.5 | 89.3 | — | — | — | — | |
| NDDR-CNNBackbone=VGG-162018.01 | 13.9 | 10.2 | 53.5 | 79.5 | 88.8 | — | — | — | — | |
| Sluice networkBackbone=VGG-16-Shortcut2018.01 | 14.2 | 10.6 | 51.7 | 78.2 | 88.2 | — | — | — | — | |
| Sluice networkBackbone=VGG-162018.01 | 14.8 | 11.3 | 49.7 | 77.1 | 88 | — | — | — | — | |
| Cross-stitch networkBackbone=VGG-16-Shortcut2018.01 | 14.8 | 11.1 | 50.3 | 76.9 | 87 | — | — | — | — | |
| MTLParameters=88M2022.10 | 15.04 | 16.06 | 42.24 | 72.52 | 87.72 | — | — | — | — | |
| Multiple-task baselineBackbone=VGG-162018.01 | 15.2 | 11.7 | 48.4 | 76.2 | 87 | — | — | — | — | |
| Cross-stitch networkBackbone=VGG-162018.01 | 15.2 | 11.7 | 48.6 | 76 | 86.5 | — | — | — | — | |
| Multi-task baselineBackbone=VGG-16-Shortcut2018.01 | 15.2 | 11.8 | 48.3 | 76.1 | 86.6 | — | — | — | — | |
| Single-task baselineBackbone=VGG-16-Shortcut2018.01 | 15.5 | 12.3 | 46.3 | 75.5 | 86.5 | — | — | — | — | |
| Single-task baselineBackbone=VGG-162018.01 | 15.6 | 12.3 | 46.4 | 75.5 | 86.5 | — | — | — | — | |
| LaVin-DiT2024.11 | 15.901 | — | 58.382 | — | — | — | — | — | — | |
| MVInversezero-shot=true2025.12 | 16.1 | — | 60.2 | — | 84.1 | — | — | — | — | |
| Lotus-Dzero-shot=true2025.12 | 16.2 | — | 59.8 | — | 83.9 | — | — | — | — | |
| DSINEzero-shot=true2025.12 | 16.4 | — | 59.6 | — | 83.5 | — | — | — | — | |
| DSINE2026.04 | 16.4 | 8.4 | — | — | — | — | — | — | — | |
| Diffusion-E2E-FTzero-shot=true2025.12 | 16.5 | — | 60.4 | — | 83.1 | — | — | — | — | |
| MTAN# Params (%)=+ 23.52019.11 | 16.5 | 13.2 | 44.1 | 72.8 | 83.7 | — | 5.4 | 5.7 | — | |
| Multi-TaskParameters=41M2022.10 | 16.6 | 13.4 | 42.5 | 73.2 | 84.6 | — | — | — | — | |
| AdashareParameters=41M2022.10 | 16.6 | 12.9 | 45 | 71.7 | 83 | — | — | — | — | |
| MTANParameters=114M2022.10 | 16.6 | 13 | 43.7 | 73.3 | 84.4 | — | — | — | — | |
| Cross-Stitch Networks# Params (%)=0.02019.11 | 16.6 | 13.2 | 43.7 | 72.4 | 83.8 | — | 0.1 | 5.3 | — | |
| Sluice Networks# Params (%)=0.02019.11 | 16.6 | 13 | 44.1 | 73 | 83.9 | — | 2.2 | 6 | — | |
| AdaShare# Params (%)=- 50.02019.11 | 16.6 | 12.9 | 45 | 72.1 | 83.2 | — | 5.9 | 6.2 | — | |
| Multi-Task# Params=12019.11 | 16.6 | 13.4 | 42.5 | 73.2 | 84.6 | — | — | — | — | |
| MTAN# Params=3.112019.11 | 16.6 | 13 | 43.7 | 73.3 | 84.4 | — | — | — | — | |
| AdaShare# Params=12019.11 | 16.6 | 12.9 | 45 | 71.7 | 83 | — | — | — | — | |
| NDDR-CNN# Params (%)=+ 6.52019.11 | 16.8 | 13.5 | 42.8 | 72.1 | 83.7 | — | 3.1 | 4.1 | — | |
| Multi-Task# Params (%)=- 50.02019.11 | 16.9 | 13.7 | 41 | 73.1 | 84.3 | — | 4.6 | 3.1 | — | |
| Lotus-2-Normaltraining_set=Virtual KITTI 22026.04 | 16.9 | — | — | — | — | — | — | — | — | |
| DEN# Params (%)=- 39.02019.11 | 17 | 14.3 | 39.5 | 72.2 | 84.7 | — | 0.6 | 1.2 | — | |
| NDDR-CNN# Params (M)=67.0472021.10 | 17.1 | 14.5 | 37.4 | 70.9 | 83.1 | — | — | — | — | |
| DEN# Params (M)=23.8382021.10 | 17.1 | 14.8 | 36 | 70.6 | 83.4 | — | — | — | — | |
| NDDR CNNParameters=133M2022.10 | 17.1 | 14.5 | 37.4 | 73.7 | 85.6 | — | — | — | — | |
| NDDR-CNN# Params=3.152019.11 | 17.1 | 14.5 | 37.4 | 73.7 | 85.6 | — | — | — | — | |
| DEN# Params=1.122019.11 | 17.1 | 14.8 | 36 | 73.4 | 85.9 | — | — | — | — | |
| Multi-Task# Params (M)=21.2852021.10 | 17.2 | 15.8 | 32.2 | 70.5 | 84.8 | — | — | — | — | |
| Cross-Stitch# Params (M)=63.8552021.10 | 17.2 | 14 | 41.4 | 67.7 | 80.4 | — | — | — | — | |
| Sluice# Params (M)=63.8552021.10 | 17.2 | 14.4 | 38.9 | 69 | 81.4 | — | — | — | — | |
| MTAN# Params (M)=66.2172021.10 | 17.2 | 13.9 | 43.7 | 70.5 | 81.9 | — | — | — | — | |
| Cross StitchParameters=124M2022.10 | 17.2 | 14 | 41.4 | 70.5 | 82.9 | — | — | — | — | |
| SluiceParameters=124M2022.10 | 17.2 | 14.4 | 38.9 | 71.8 | 83.9 | — | — | — | — | |
| Omnidata V2zero-shot=true2025.12 | 17.2 | — | 55.5 | — | 83 | — | — | — | — | |
| Cross-Stitch# Params=32019.11 | 17.2 | 14 | 41.4 | 70.5 | 82.9 | — | — | — | — | |
| Sluice# Params=32019.11 | 17.2 | 14.4 | 38.9 | 71.8 | 83.9 | — | — | — | — | |
| AutoMTL# Params (M)=35.0562021.10 | 17.3 | 14.4 | 39.1 | 70.7 | 83.1 | — | — | — | — | |
| Single-Task# Params (%)=0.02019.11 | 17.3 | 14.4 | 37.2 | 73.7 | 85.1 | — | 0 | 0 | — | |
| Single-Task# Params=32019.11 | 17.5 | 15.2 | 34.9 | 73.3 | 85.7 | — | — | — | — | |
| Single-Task# Params (M)=63.8552021.10 | 17.7 | 16.3 | 29.4 | 72.3 | 87.3 | — | — | — | — | |
| AdaShare# Params (M)=21.2852021.10 | 17.7 | 13.8 | 42.3 | 68.9 | 80.5 | — | — | — | — | |
| Vision Bananaprotocol=zero-shot2026.04 | 17.778 | 8.876 | — | — | — | — | — | — | — | |
| Ours-VGG16Backbone=VGG-162019.06 | 18.6 | 11.7 | 48.8 | 72.2 | 79.8 | 25.5 | — | — | — | |
| StableNormalzero-shot=true2025.12 | 18.6 | — | 53.5 | — | 81.7 | — | — | — | — | |
| GeoWizardzero-shot=true2025.12 | 18.9 | — | 50.7 | — | 81.5 | — | — | — | — | |
| GeoNet2019.06 | 19 | 11.8 | 48.4 | 71.5 | 79.5 | 26.9 | — | — | — | |
| OursBackbone=HRNet-18, Task Weights=Manually tuned, Seeds=32024.06 | 19.54 | 12.45 | 46.11 | 71.54 | 80.12 | — | — | — | — | |
| StableNormal2024.11 | 19.707 | — | 53.042 | — | — | — | — | — | — | |
| StableNormal2026.04 | 19.707 | 10.527 | — | — | — | — | — | — | — | |
| SkipNet2019.06 | 19.8 | 12 | 47.9 | 70 | 77.8 | 28.2 | — | — | — | |
| IRISformerMode=single-task2022.06 | 20.2 | 13.4 | — | — | — | — | — | — | — | |
| CAGradBackbone=HRNet-18, Task Weights=Manually tuned, Seeds=32024.06 | 20.38 | 13.53 | 42.89 | 69.33 | 78.71 | — | — | — | — | |
| Aligned-MTLBackbone=HRNet-18, Task Weights=Manually tuned, Seeds=32024.06 | 20.4 | 13.57 | 42.83 | 69.26 | 78.69 | — | — | — | — | |
| PCGradBackbone=HRNet-18, Task Weights=Manually tuned, Seeds=32024.06 | 20.5 | 13.54 | 42.56 | 69.14 | 78.55 | — | — | — | — | |
| GDBackbone=HRNet-18, Task Weights=Manually tuned, Seeds=32024.06 | 20.52 | 13.46 | 42.63 | 69 | 78.42 | — | — | — | — | |
| MGDABackbone=HRNet-18, Task Weights=Manually tuned, Seeds=32024.06 | 20.58 | 13.56 | 42.28 | 68.79 | 78.33 | — | — | — | — | |
| SURGE2019.06 | 20.6 | 12.2 | 47.3 | 68.9 | 76.6 | — | — | — | — | |
| IndependentBackbone=HRNet-18, Task Weights=Manually tuned, Seeds=32024.06 | 20.75 | 14.04 | 41.32 | 68.26 | 78.04 | — | — | — | — | |
| Marigold2024.11 | 20.864 | — | 50.457 | — | — | — | — | — | — | |
| Marigold2026.04 | 20.864 | 11.134 | — | — | — | — | — | — | — | |
| NIR'192022.06 | 21.1 | 16.9 | — | — | — | — | — | — | — | |
| Zhang'172022.06 | 21.7 | 14.8 | — | — | — | — | — | — | — | |
| LVMModel Scale=7B2024.11 | 23.433 | — | 44.836 | — | — | — | — | — | — | |
| IRISformerMode=multi-task2022.06 | 23.5 | 16.3 | — | — | — | — | — | — | — | |
| MS-CNN2019.06 | 23.7 | 15.5 | 39.2 | 62 | 71.1 | — | — | — | — | |
| Eigen et al.Source=Predicted Surface Normal from the Network2019.07 | 23.7 | 15.5 | 39.2 | 62 | 71.1 | — | — | — | — | |
| Li'202022.06 | 24.1 | 17.3 | — | — | — | — | — | — | — | |
| FAMOstatus=rerun2026.03 | 24.5 | 19.36 | 27.48 | 53.75 | 65.91 | — | — | — | — | |
| Virtual Normal Loss (Ours)Source=Calculated Surface Normal from the Point cloud2019.07 | 24.6 | 17.9 | 34.1 | 60.7 | 71.7 | — | — | — | — | |
| MGDA2026.03 | 24.88 | 19.45 | 29.18 | 56.88 | 69.36 | — | — | — | — | |
| STL2026.03 | 25.01 | 19.21 | 30.14 | 57.2 | 69.15 | — | — | — | — | |
| FAMOstatus=original2026.03 | 25.06 | 19.57 | 29.21 | 56.61 | 68.98 | — | — | — | — | |
| SDMGrad2026.03 | 25.07 | 19.99 | 28.54 | 55.74 | 68.53 | — | — | — | — | |
| Nash-MTL2026.03 | 25.26 | 20.08 | 28.4 | 55.47 | 68.15 | — | — | — | — | |
| MARIGOLD2026.03 | 25.29 | 20.06 | 28.55 | 55.51 | 68.11 | — | — | — | — | |
| Li'212022.06 | 25.3 | 18 | — | — | — | — | — | — | — | |
| CAGradMAdam=true2026.06 | 25.56 | 19.55 | 29.35 | 56.32 | 68.39 | — | — | — | — | |
| PaLoRAMAdam=true2026.06 | 25.6 | 19.28 | 30.57 | 57.07 | 68.75 | — | — | — | — | |
| MoDo2026.03 | 25.65 | 20.33 | 28.04 | 54.86 | 67.37 | — | — | — | — | |
| PaLoRAMAdam=false2026.06 | 25.66 | 19.34 | 30.47 | 56.9 | 68.56 | — | — | — | — | |
| CAGradMAdam=false2026.06 | 25.87 | 19.72 | 29.58 | 56.12 | 67.96 | — | — | — | — | |
| IMTLMAdam=false2026.06 | 25.9 | 19.74 | 29.74 | 55.98 | 67.8 | — | — | — | — | |
| IMTL-G2026.03 | 26.02 | 21.19 | 26.2 | 53.13 | 66.24 | — | — | — | — | |
| IMTLMAdam=true2026.06 | 26.04 | 19.7 | 29.84 | 56.03 | 67.81 | — | — | — | — | |
| CAGrad2026.03 | 26.31 | 21.58 | 25.61 | 52.36 | 65.58 | — | — | — | — | |
| PaMaLMAdam=true2026.06 | 26.47 | 20.24 | 29.13 | 54.7 | 66.42 | — | — | — | — | |
| PaMaLMAdam=false2026.06 | 26.6 | 20.33 | 29.09 | 54.61 | 66.35 | — | — | — | — | |
| MoCo2026.03 | 26.67 | 21.83 | 25.61 | 51.78 | 64.85 | — | — | — | — | |
| Deep3D2019.06 | 26.9 | 14.8 | 42 | 61.2 | 68.2 | — | — | — | — | |
| UW2026.03 | 27.04 | 22.61 | 23.54 | 49.05 | 63.65 | — | — | — | — |