Traversability Estimation on RELLIS-3D (Synthetic)
96.8AUROCSyNeT+VS
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| SyNeT+VSBackbone=ViT-H (SAM), Batch Size=1, Epochs=5, Negative loss weight (λn)=1.22026.01 | 96.8 | 93.5 | 97.3 | 92.2 | 94.8 | 9.7 | 5.2 | |
| SyNeT+LORTBackbone=ResNet-50 & RADIO, Batch Size=8, Epochs=60, Negative centers (K)=4, Loss temperature (τ)=0.55, Repulsion weighting factor (γ)=0.12026.01 | 96.6 | 92.3 | 96.6 | 91.4 | 90.9 | 10.3 | 9.1 | |
| VSBackbone=ViT-H (SAM), Batch Size=1, Epochs=52026.01 | 95.6 | 91.8 | 95.7 | 89.5 | 93.9 | 13.3 | 6.1 | |
| LORTBackbone=ResNet-50 & RADIO, Batch Size=8, Epochs=602026.01 | 90.3 | 87.7 | 91.7 | 89.6 | 84.2 | 11.7 | 15.8 |