Leaderboard

Scene flow on Argoverse 2, Waymo, TruckScenes, nuScenes and Aeva, ranked by mean Dynamic (lower is better). Challenge details

Method

mean Dynamic [35-70]

AV2 [35-70]

Waymo [35-70]

TruckScenes [35-70]

NuScenes [35-70]

Aeva [35-70]

Date

SynFlow-4k

unsupervised single-dataset paper / code ↗

0.3233

0.1525

0.1780

0.3533

0.4525

0.4804

2026-04-10

Team KTH-RPL · submitted 2026-04-10 · training data: single-dataset · track: unsupervised

Notes

trained on SynFlow-4k Synthetic dataset only

Distance range 0-35 m

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.2720	0.1279	0.1784	0.2523	0.1190	0.1899
mean Static	0.0189	0.0111	0.0066	0.0141	0.0076	0.0117
Threeway EPE	0.0859	0.0209	0.0148	0.2262	0.0291	0.0754
Threeway FG Dynamic	0.1959	0.0423	0.0308	0.6545	0.0765	0.2000
Threeway FG Static	0.0517	0.0129	0.0106	0.0121	0.0055	0.0186
Threeway BG Static	0.0100	0.0073	0.0029	0.0119	0.0053	0.0075
CAR Dynamic	0.1732	0.1049	0.1347	0.1131	0.1063	0.1264
CAR Static	0.0188	0.0107	0.0055	0.0161	0.0042	0.0111
OTHER_VEHICLES Dynamic	0.3969	0.1711	0.2168	0.1850	—	0.2424
OTHER_VEHICLES Static	0.0243	0.0153	0.0064	0.0110	—	0.0142
PEDESTRIAN Dynamic	0.2314	0.1441	0.2207	0.4186	0.1598	0.2349
PEDESTRIAN Static	0.0263	0.0121	0.0131	0.0158	0.0097	0.0154
WHEELED_VRU Dynamic	0.2863	0.0916	0.1416	0.2924	0.0910	0.1806
WHEELED_VRU Static	0.0160	0.0100	0.0054	0.0154	0.0126	0.0119
BACKGROUND Static	0.0094	0.0072	0.0027	0.0125	0.0039	0.0071

Distance range 35-70 m

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.4804	0.1525	0.4525	0.3533	0.1780	0.3233
mean Static	0.0291	0.0158	0.0180	0.0166	0.0102	0.0179
Threeway EPE	0.1196	0.0301	0.0126	0.1563	0.0289	0.0695
Threeway FG Dynamic	0.3096	0.0613	0.0195	0.4500	0.0701	0.1821
Threeway FG Static	0.0290	0.0185	0.0101	0.0111	0.0084	0.0154
Threeway BG Static	0.0204	0.0106	0.0081	0.0079	0.0082	0.0110
CAR Dynamic	0.3225	0.1319	0.2476	0.1143	0.1118	0.1856
CAR Static	0.0281	0.0169	0.0213	0.0112	0.0078	0.0171
OTHER_VEHICLES Dynamic	0.4687	0.1541	0.3991	0.2647	—	0.3217
OTHER_VEHICLES Static	0.0300	0.0148	0.0169	0.0203	—	0.0205
PEDESTRIAN Dynamic	0.5968	0.2131	0.7730	0.6855	0.2816	0.5100
PEDESTRIAN Static	0.0385	0.0158	0.0138	0.0216	0.0111	0.0202
WHEELED_VRU Dynamic	0.5336	0.1110	0.3901	0.3488	0.1405	0.3048
WHEELED_VRU Static	0.0284	0.0195	0.0305	0.0222	0.0139	0.0229
BACKGROUND Static	0.0204	0.0119	0.0074	0.0076	0.0078	0.0110

Imported from the original leaderboard at sceneflow.argoverse.org.

DeltaFlow-av2

supervised single-dataset paper / code ↗

0.3491

0.1432

0.1804

0.4239

0.6473

0.3508

2026-04-06

Team Host · submitted 2026-04-06 · training data: single-dataset · track: supervised

Notes

only trained on av2 dataset, long-range auto-adaptation

Distance range 0-35 m

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.2645	0.1033	0.1895	0.2769	0.1085	0.1886
mean Static	0.0184	0.0113	0.0076	0.0226	0.0097	0.0139
Threeway EPE	0.1311	0.0176	0.0195	0.3457	0.0292	0.1086
Threeway FG Dynamic	0.3456	0.0316	0.0427	0.9700	0.0708	0.2921
Threeway FG Static	0.0349	0.0131	0.0106	0.0112	0.0078	0.0156
Threeway BG Static	0.0127	0.0081	0.0052	0.0560	0.0090	0.0182
CAR Dynamic	0.1740	0.0838	0.1781	0.1040	0.0842	0.1248
CAR Static	0.0170	0.0115	0.0067	0.0181	0.0069	0.0120
OTHER_VEHICLES Dynamic	0.3446	0.1322	0.1756	0.2789	—	0.2328
OTHER_VEHICLES Static	0.0204	0.0165	0.0076	0.0116	—	0.0140
PEDESTRIAN Dynamic	0.2369	0.1217	0.2650	0.4160	0.1511	0.2382
PEDESTRIAN Static	0.0237	0.0114	0.0121	0.0152	0.0103	0.0145
WHEELED_VRU Dynamic	0.3026	0.0754	0.1393	0.3088	0.0903	0.1833
WHEELED_VRU Static	0.0153	0.0095	0.0064	0.0155	0.0138	0.0121
BACKGROUND Static	0.0156	0.0079	0.0051	0.0527	0.0078	0.0178

Distance range 35-70 m

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.3508	0.1432	0.6473	0.4239	0.1804	0.3491
mean Static	0.0231	0.0158	0.0146	0.0224	0.0127	0.0177
Threeway EPE	0.1690	0.0297	0.0169	0.3979	0.0517	0.1330
Threeway FG Dynamic	0.4670	0.0582	0.0340	1.1633	0.1348	0.3714
Threeway FG Static	0.0266	0.0195	0.0087	0.0115	0.0105	0.0154
Threeway BG Static	0.0135	0.0115	0.0079	0.0188	0.0099	0.0123
CAR Dynamic	0.2297	0.1286	0.4808	0.1768	0.1361	0.2304
CAR Static	0.0225	0.0194	0.0186	0.0139	0.0107	0.0170
OTHER_VEHICLES Dynamic	0.3654	0.1421	0.6238	0.4458	—	0.3943
OTHER_VEHICLES Static	0.0183	0.0157	0.0175	0.0203	—	0.0179
PEDESTRIAN Dynamic	0.3328	0.1855	0.9688	0.6699	0.2683	0.4850
PEDESTRIAN Static	0.0315	0.0162	0.0110	0.0282	0.0119	0.0198
WHEELED_VRU Dynamic	0.4753	0.1167	0.5159	0.4031	0.1369	0.3296
WHEELED_VRU Static	0.0299	0.0153	0.0185	0.0299	0.0189	0.0225
BACKGROUND Static	0.0134	0.0122	0.0073	0.0198	0.0092	0.0124

Imported from the original leaderboard at sceneflow.argoverse.org.

SSF-long-av2

supervised single-dataset paper / code ↗

0.5248

0.2467

0.3015

0.6001

0.8700

0.6059

2026-04-06

Team Host · submitted 2026-04-06 · training data: single-dataset · track: supervised

Notes

trained only on av2 dataset for SSF long range config.

Distance range 0-35 m

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.6300	0.1597	0.4338	0.6409	0.2020	0.4133
mean Static	0.0181	0.0142	0.0181	0.0145	0.0119	0.0154
Threeway EPE	0.2542	0.0236	0.0408	0.4834	0.0427	0.1689
Threeway FG Dynamic	0.7325	0.0471	0.0886	1.4302	0.1088	0.4815
Threeway FG Static	0.0172	0.0169	0.0230	0.0096	0.0112	0.0156
Threeway BG Static	0.0130	0.0067	0.0109	0.0103	0.0082	0.0098
CAR Dynamic	0.4224	0.1146	0.2694	0.4126	0.1262	0.2690
CAR Static	0.0166	0.0137	0.0186	0.0172	0.0095	0.0151
OTHER_VEHICLES Dynamic	0.6184	0.1699	0.3850	0.6430	—	0.4541
OTHER_VEHICLES Static	0.0206	0.0202	0.0200	0.0116	—	0.0181
PEDESTRIAN Dynamic	0.7236	0.2169	0.5549	0.7798	0.2494	0.5049
PEDESTRIAN Static	0.0256	0.0181	0.0250	0.0159	0.0171	0.0203
WHEELED_VRU Dynamic	0.7556	0.1374	0.5260	0.7283	0.2304	0.4755
WHEELED_VRU Static	0.0155	0.0127	0.0156	0.0168	0.0142	0.0149
BACKGROUND Static	0.0122	0.0065	0.0113	0.0111	0.0068	0.0096

Distance range 35-70 m

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.6059	0.2467	0.8700	0.6001	0.3015	0.5248
mean Static	0.0213	0.0212	0.0205	0.0174	0.0213	0.0204
Threeway EPE	0.2334	0.0398	0.0226	0.4675	0.0730	0.1672
Threeway FG Dynamic	0.6798	0.0825	0.0514	1.3849	0.1903	0.4778
Threeway FG Static	0.0144	0.0278	0.0101	0.0114	0.0197	0.0167
Threeway BG Static	0.0060	0.0090	0.0063	0.0061	0.0091	0.0073
CAR Dynamic	0.3657	0.1859	0.8174	0.2526	0.2010	0.3645
CAR Static	0.0197	0.0281	0.0205	0.0160	0.0205	0.0210
OTHER_VEHICLES Dynamic	0.5921	0.1773	0.7532	0.5956	—	0.5296
OTHER_VEHICLES Static	0.0186	0.0216	0.0217	0.0201	—	0.0205
PEDESTRIAN Dynamic	0.6245	0.4067	0.8580	0.7857	0.4482	0.6246
PEDESTRIAN Static	0.0323	0.0260	0.0267	0.0214	0.0241	0.0261
WHEELED_VRU Dynamic	0.8412	0.2170	1.0513	0.7667	0.2552	0.6263
WHEELED_VRU Static	0.0301	0.0207	0.0276	0.0238	0.0321	0.0269
BACKGROUND Static	0.0059	0.0098	0.0061	0.0057	0.0086	0.0072

Imported from the original leaderboard at sceneflow.argoverse.org.

Not evaluated at 35–70 m · 5 entries. The team chose to evaluate only 0–35 m (e.g. the model crops the point cloud at 51.2 m), so they are not compared here. See the 0–35 m ranking.

–

DeltaFlow_RVloss_AV2

unsupervised single-dataset paper / code ↗

not evaluated at 35–70 m (team's choice)

2026-05-01

Team IV · submitted 2026-05-01 · training data: single-dataset · track: unsupervised

Notes

Backbone: DeltaFlow Loss: RunoffVoteLoss (self-supervised) Training: Argoverse 2 only; no additional data; Paper Link: https://arxiv.org/abs/2608.18864

Distance range 0-35 m

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.3273	0.1632	0.3702	0.3183	0.1813	0.2720
mean Static	0.0233	0.0164	0.0124	0.0371	0.0132	0.0205
Threeway EPE	0.1755	0.0295	0.0351	0.3420	0.0420	0.1248
Threeway FG Dynamic	0.4573	0.0492	0.0708	0.8978	0.0981	0.3146
Threeway FG Static	0.0330	0.0212	0.0175	0.0114	0.0115	0.0189
Threeway BG Static	0.0361	0.0182	0.0171	0.1168	0.0164	0.0409
CAR Dynamic	0.1946	0.1161	0.2377	0.1179	0.1111	0.1555
CAR Static	0.0182	0.0184	0.0103	0.0188	0.0086	0.0149
OTHER_VEHICLES Dynamic	0.3952	0.1541	0.3695	0.3322	—	0.3128
OTHER_VEHICLES Static	0.0188	0.0172	0.0112	0.0135	—	0.0152
PEDESTRIAN Dynamic	0.3380	0.2421	0.5619	0.4951	0.2780	0.3830
PEDESTRIAN Static	0.0233	0.0130	0.0135	0.0158	0.0110	0.0153
WHEELED_VRU Dynamic	0.3812	0.1406	0.3115	0.3280	0.1548	0.2632
WHEELED_VRU Static	0.0223	0.0161	0.0104	0.0209	0.0186	0.0177
BACKGROUND Static	0.0337	0.0170	0.0169	0.1165	0.0144	0.0397

Not evaluated at 35–70 m. The team chose to evaluate 0–35 m only (e.g. the model crops the point cloud at 51.2 m), so this entry is ranked at 0–35 m only.

Imported from the original leaderboard at sceneflow.argoverse.org.

–

TeFlow-av2

unsupervised single-dataset paper / code ↗

not evaluated at 35–70 m (team's choice)

2026-04-10

Team Host · submitted 2026-04-10 · training data: single-dataset · track: unsupervised

Notes

Feed-forward SSL on av2 only, teflow-deltaflow-894989-e14-test-v3; NOTE: only 0-35m scores are valid since we set the range of pc.

Distance range 0-35 m

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.3875	0.2019	0.3822	0.3884	0.1979	0.3116
mean Static	0.0288	0.0169	0.0091	0.0249	0.0118	0.0183
Threeway EPE	0.1458	0.0354	0.0344	0.3071	0.0441	0.1134
Threeway FG Dynamic	0.3646	0.0702	0.0842	0.8557	0.1080	0.2965
Threeway FG Static	0.0434	0.0218	0.0138	0.0121	0.0112	0.0205
Threeway BG Static	0.0295	0.0142	0.0052	0.0534	0.0131	0.0231
CAR Dynamic	0.2451	0.1673	0.2889	0.1584	0.1536	0.2026
CAR Static	0.0208	0.0152	0.0074	0.0175	0.0069	0.0136
OTHER_VEHICLES Dynamic	0.5092	0.2208	0.4659	0.4067	—	0.4006
OTHER_VEHICLES Static	0.0222	0.0182	0.0078	0.0144	—	0.0156
PEDESTRIAN Dynamic	0.3386	0.2734	0.4850	0.6104	0.2589	0.3933
PEDESTRIAN Static	0.0295	0.0202	0.0179	0.0280	0.0164	0.0224
WHEELED_VRU Dynamic	0.4573	0.1461	0.2891	0.3780	0.1811	0.2903
WHEELED_VRU Static	0.0444	0.0178	0.0075	0.0153	0.0133	0.0196
BACKGROUND Static	0.0272	0.0131	0.0049	0.0495	0.0106	0.0211

Not evaluated at 35–70 m. The team chose to evaluate 0–35 m only (e.g. the model crops the point cloud at 51.2 m), so this entry is ranked at 0–35 m only.

Imported from the original leaderboard at sceneflow.argoverse.org.

–

VoteFlow-av2

unsupervised single-dataset

not evaluated at 35–70 m (team's choice)

2026-04-10

Team AV2 Host Team · submitted 2026-04-10 · training data: single-dataset · track: unsupervised

Notes

Feed-forward SSL on av2 only, voteflow-voteflow_ivmind_bs4_decoder_4_2-e7-test-v3; NOTE: only 0-35m scores are valid since we set the range of pc.

Distance range 0-35 m

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.7961	0.2904	0.7035	0.8310	0.3067	0.5855
mean Static	0.0186	0.0161	0.0119	0.0134	0.0101	0.0140
Threeway EPE	0.2281	0.0452	0.0573	0.4277	0.0502	0.1617
Threeway FG Dynamic	0.6338	0.1036	0.1446	1.2620	0.1304	0.4549
Threeway FG Static	0.0404	0.0209	0.0192	0.0104	0.0132	0.0208
Threeway BG Static	0.0102	0.0112	0.0082	0.0108	0.0071	0.0095
CAR Dynamic	0.6445	0.2260	0.4602	0.6252	0.2139	0.4340
CAR Static	0.0189	0.0150	0.0091	0.0155	0.0110	0.0139
OTHER_VEHICLES Dynamic	0.9473	0.3012	0.7939	0.8549	—	0.7243
OTHER_VEHICLES Static	0.0210	0.0246	0.0175	0.0101	—	0.0183
PEDESTRIAN Dynamic	0.8446	0.3827	0.7983	0.9091	0.3752	0.6620
PEDESTRIAN Static	0.0272	0.0171	0.0169	0.0157	0.0135	0.0181
WHEELED_VRU Dynamic	0.7481	0.2516	0.7615	0.9348	0.3312	0.6054
WHEELED_VRU Static	0.0173	0.0132	0.0083	0.0153	0.0110	0.0130
BACKGROUND Static	0.0084	0.0103	0.0079	0.0104	0.0049	0.0084

Not evaluated at 35–70 m. The team chose to evaluate 0–35 m only (e.g. the model crops the point cloud at 51.2 m), so this entry is ranked at 0–35 m only.

Imported from the original leaderboard at sceneflow.argoverse.org.

–

SeFlow++-av2

unsupervised single-dataset

not evaluated at 35–70 m (team's choice)

2026-04-10

Team Host · submitted 2026-04-10 · training data: single-dataset · track: unsupervised

Notes

Feed-forward SSL on av2 only, seflowpp-deflowpp-13987267-e5-test-v3; NOTE: only 0-35m scores are valid since we set the range of pc.

Distance range 0-35 m

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.8057	0.2827	0.6965	0.8555	0.3192	0.5919
mean Static	0.0181	0.0160	0.0112	0.0132	0.0098	0.0137
Threeway EPE	0.2366	0.0420	0.0550	0.4399	0.0491	0.1645
Threeway FG Dynamic	0.6636	0.0949	0.1378	1.2993	0.1271	0.4645
Threeway FG Static	0.0358	0.0202	0.0186	0.0103	0.0125	0.0195
Threeway BG Static	0.0102	0.0108	0.0086	0.0101	0.0076	0.0095
CAR Dynamic	0.6794	0.2023	0.4641	0.6966	0.2067	0.4498
CAR Static	0.0176	0.0148	0.0106	0.0150	0.0108	0.0138
OTHER_VEHICLES Dynamic	0.9532	0.3075	0.7848	0.8937	—	0.7348
OTHER_VEHICLES Static	0.0208	0.0279	0.0118	0.0101	—	0.0176
PEDESTRIAN Dynamic	0.8372	0.3867	0.8698	0.9326	0.3579	0.6768
PEDESTRIAN Static	0.0264	0.0148	0.0169	0.0157	0.0125	0.0172
WHEELED_VRU Dynamic	0.7531	0.2343	0.6672	0.8990	0.3930	0.5893
WHEELED_VRU Static	0.0173	0.0126	0.0086	0.0154	0.0106	0.0129
BACKGROUND Static	0.0085	0.0100	0.0083	0.0098	0.0053	0.0084

Not evaluated at 35–70 m. The team chose to evaluate 0–35 m only (e.g. the model crops the point cloud at 51.2 m), so this entry is ranked at 0–35 m only.

Imported from the original leaderboard at sceneflow.argoverse.org.

–

SeFlow-av2

unsupervised single-dataset paper / code ↗

not evaluated at 35–70 m (team's choice)

2026-04-10

Team AV2 Host Team · submitted 2026-04-10 · training data: single-dataset · track: unsupervised

Notes

Feed-forward SSL on av2 only; NOTE: only 0-35m scores are valid since we set the range of pc.

Distance range 0-35 m

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.8412	0.3113	0.7543	0.8885	0.3494	0.6289
mean Static	0.0182	0.0167	0.0167	0.0131	0.0114	0.0152
Threeway EPE	0.2573	0.0476	0.0601	0.4627	0.0572	0.1770
Threeway FG Dynamic	0.7257	0.1093	0.1474	1.3679	0.1463	0.4993
Threeway FG Static	0.0373	0.0223	0.0224	0.0105	0.0169	0.0219
Threeway BG Static	0.0090	0.0112	0.0106	0.0097	0.0082	0.0097
CAR Dynamic	0.7046	0.2365	0.5129	0.7078	0.2334	0.4790
CAR Static	0.0186	0.0166	0.0137	0.0150	0.0143	0.0156
OTHER_VEHICLES Dynamic	0.9604	0.2949	0.8430	0.8673	—	0.7414
OTHER_VEHICLES Static	0.0208	0.0236	0.0299	0.0101	—	0.0211
PEDESTRIAN Dynamic	0.8867	0.4406	0.9291	1.0312	0.4454	0.7466
PEDESTRIAN Static	0.0263	0.0175	0.0187	0.0157	0.0150	0.0186
WHEELED_VRU Dynamic	0.8132	0.2733	0.7322	0.9477	0.3693	0.6272
WHEELED_VRU Static	0.0176	0.0153	0.0113	0.0153	0.0107	0.0140
BACKGROUND Static	0.0077	0.0103	0.0102	0.0096	0.0057	0.0087

Not evaluated at 35–70 m. The team chose to evaluate 0–35 m only (e.g. the model crops the point cloud at 51.2 m), so this entry is ranked at 0–35 m only.

Imported from the original leaderboard at sceneflow.argoverse.org.

Click a label such as supervised, unsupervised or multi-dataset to filter by it. Bold green marks the best value in each column. Dynamic metrics are speed-normalized EPE (unitless); Static and Threeway metrics are EPE in meters.