# Traversability Segmentation on indoor traversability dataset (test) Source: [Traversability Segmentation on indoor traversability dataset (test)]() Collection index: [llms.txt]() Data updated: 2026-03-10T08:20:39.178Z Evaluation of traversability segmentation performance on the test split of the indoor traversability dataset, reporting metrics like Freespace, Obstacles, and 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 | traversability segmentation | | Dataset (including any stated split) | indoor traversability dataset (test) | | Metric | Freespace | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 16 of 16 | | 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 - [Freespace](): Higher is better; unit: PERCENT. - [Obstacles](): Higher is better; unit: PERCENT. - [mIoU](): Higher is better; unit: PERCENT. ## Recorded results | Method | Freespace | Result date | Report paper | | --- | --- | --- | --- | | NCL | 94.61 | Not recorded | 69afa5622d603e6de3e43813 | | NCL | 93.52 | Not recorded | 69afa5622d603e6de3e43813 | | NCL | 91.84 | Not recorded | 69afa5622d603e6de3e43813 | | NCL | 91.5 | Not recorded | 69afa5622d603e6de3e43813 | | BAM | 88.26 | Not recorded | 69afa5622d603e6de3e43813 | | BAM | 87.93 | Not recorded | 69afa5622d603e6de3e43813 | | CWT | 87.43 | Not recorded | 69afa5622d603e6de3e43813 | | BAM | 86.03 | Not recorded | 69afa5622d603e6de3e43813 | | BAM | 85.67 | Not recorded | 69afa5622d603e6de3e43813 | | CWT | 85.35 | Not recorded | 69afa5622d603e6de3e43813 | | CWT | 84.87 | Not recorded | 69afa5622d603e6de3e43813 | | CWT | 83.51 | Not recorded | 69afa5622d603e6de3e43813 | | PANet | 78.54 | Not recorded | 69afa5622d603e6de3e43813 | | PANet | 76.45 | Not recorded | 69afa5622d603e6de3e43813 | | PANet | 76.24 | Not recorded | 69afa5622d603e6de3e43813 | | PANet | 74.8 | Not recorded | 69afa5622d603e6de3e43813 | ### NCL Freespace: 94.61. Result ID: 69afd4086dbb7075b958193f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"DFormer \[13\]","Shots":"5-shot","Trainable Params":"4.4M","Total Params":"29.6M"}. This record does not assert independent reproduction. ### NCL Freespace: 93.52. Result ID: 69afd4086dbb7075b958193b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"DFormer \[13\]","Shots":"1-shot","Trainable Params":"4.4M","Total Params":"29.6M"}. This record does not assert independent reproduction. ### NCL Freespace: 91.84. Result ID: 69afd4086dbb7075b9581937. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"CMX \[29\]","Shots":"5-shot","Trainable Params":"4.6M","Total Params":"59.7M"}. This record does not assert independent reproduction. ### NCL Freespace: 91.5. Result ID: 69afd4086dbb7075b9581933. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"CMX \[29\]","Shots":"1-shot","Trainable Params":"4.6M","Total Params":"59.7M"}. This record does not assert independent reproduction. ### BAM Freespace: 88.26. Result ID: 69afd4086dbb7075b958193e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"DFormer \[13\]","Shots":"5-shot","Trainable Params":"4.9M","Total Params":"51.6M"}. This record does not assert independent reproduction. ### BAM Freespace: 87.93. Result ID: 69afd4086dbb7075b958193a. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"DFormer \[13\]","Shots":"1-shot","Trainable Params":"4.9M","Total Params":"51.6M"}. This record does not assert independent reproduction. ### CWT Freespace: 87.43. Result ID: 69afd4086dbb7075b958193d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"DFormer \[13\]","Shots":"5-shot","Trainable Params":"1.2M","Total Params":"46.7M"}. This record does not assert independent reproduction. ### BAM Freespace: 86.03. Result ID: 69afd4086dbb7075b9581932. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"CMX \[29\]","Shots":"1-shot","Trainable Params":"2.8M","Total Params":"102M"}. This record does not assert independent reproduction. ### BAM Freespace: 85.67. Result ID: 69afd4086dbb7075b9581936. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"CMX \[29\]","Shots":"5-shot","Trainable Params":"2.8M","Total Params":"102M"}. This record does not assert independent reproduction. ### CWT Freespace: 85.35. Result ID: 69afd4086dbb7075b9581939. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"DFormer \[13\]","Shots":"1-shot","Trainable Params":"1.2M","Total Params":"46.7M"}. This record does not assert independent reproduction. ### CWT Freespace: 84.87. Result ID: 69afd4086dbb7075b9581935. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"CMX \[29\]","Shots":"5-shot","Trainable Params":"1.2M","Total Params":"98M"}. This record does not assert independent reproduction. ### CWT Freespace: 83.51. Result ID: 69afd4086dbb7075b9581931. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"CMX \[29\]","Shots":"1-shot","Trainable Params":"1.2M","Total Params":"98M"}. This record does not assert independent reproduction. ### PANet Freespace: 78.54. Result ID: 69afd4086dbb7075b958193c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"DFormer \[13\]","Shots":"5-shot","Trainable Params":"4.3M","Total Params":"14.7M"}. This record does not assert independent reproduction. ### PANet Freespace: 76.45. Result ID: 69afd4086dbb7075b9581938. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"DFormer \[13\]","Shots":"1-shot","Trainable Params":"4.3M","Total Params":"14.7M"}. This record does not assert independent reproduction. ### PANet Freespace: 76.24. Result ID: 69afd4086dbb7075b9581934. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"CMX \[29\]","Shots":"5-shot","Trainable Params":"2.5M","Total Params":"65.7M"}. This record does not assert independent reproduction. ### PANet Freespace: 74.8. Result ID: 69afd4086dbb7075b9581930. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"CMX \[29\]","Shots":"1-shot","Trainable Params":"2.5M","Total Params":"65.7M"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.