SynFlow-4k w real-data

mean Dynamic · 0–35 m

0.1602

mean Dynamic · 35–70 m

0.2799

mean Dynamic · overall 0–70 m

0.2200

mean Static · 0–35 m

0.0114

Threeway EPE · 0–35 m

0.0377

Notes

train on synflow-4k data and four real-world datasets ref. UniFlow (av2, nus, waymo, truckscene train set)

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.2360	0.1025	0.1405	0.2224	0.0997	0.1602
mean Static	0.0182	0.0110	0.0068	0.0132	0.0079	0.0114
Threeway EPE	0.0661	0.0173	0.0137	0.0743	0.0173	0.0377
Threeway FG Dynamic	0.1127	0.0319	0.0278	0.2043	0.0407	0.0835
Threeway FG Static	0.0788	0.0125	0.0104	0.0107	0.0057	0.0236
Threeway BG Static	0.0066	0.0074	0.0028	0.0081	0.0057	0.0061
CAR Dynamic	0.1412	0.0838	0.1237	0.0706	0.0731	0.0985
CAR Static	0.0197	0.0107	0.0056	0.0160	0.0045	0.0113
OTHER_VEHICLES Dynamic	0.3180	0.1344	0.1327	0.1563	—	0.1854
OTHER_VEHICLES Static	0.0209	0.0156	0.0071	0.0106	—	0.0135
PEDESTRIAN Dynamic	0.2135	0.1179	0.1880	0.4034	0.1436	0.2133
PEDESTRIAN Static	0.0250	0.0119	0.0124	0.0151	0.0098	0.0148
WHEELED_VRU Dynamic	0.2714	0.0739	0.1177	0.2594	0.0823	0.1610
WHEELED_VRU Static	0.0156	0.0096	0.0059	0.0158	0.0130	0.0120
BACKGROUND Static	0.0100	0.0072	0.0027	0.0086	0.0043	0.0066

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.3024	0.1277	0.4846	0.3327	0.1519	0.2799
mean Static	0.0222	0.0149	0.0186	0.0177	0.0127	0.0172
Threeway EPE	0.0562	0.0271	0.0135	0.0718	0.0235	0.0384
Threeway FG Dynamic	0.1154	0.0519	0.0191	0.1935	0.0496	0.0859
Threeway FG Static	0.0441	0.0179	0.0125	0.0117	0.0091	0.0190
Threeway BG Static	0.0092	0.0115	0.0090	0.0102	0.0119	0.0104
CAR Dynamic	0.1903	0.1125	0.2560	0.1046	0.0822	0.1491
CAR Static	0.0231	0.0165	0.0254	0.0117	0.0085	0.0170
OTHER_VEHICLES Dynamic	0.2773	0.1249	0.3662	0.2141	—	0.2456
OTHER_VEHICLES Static	0.0208	0.0153	0.0231	0.0201	—	0.0198
PEDESTRIAN Dynamic	0.3194	0.1780	0.8708	0.6580	0.2523	0.4557
PEDESTRIAN Static	0.0314	0.0156	0.0100	0.0219	0.0113	0.0180
WHEELED_VRU Dynamic	0.4225	0.0954	0.4454	0.3542	0.1212	0.2877
WHEELED_VRU Static	0.0273	0.0143	0.0262	0.0259	0.0199	0.0227
BACKGROUND Static	0.0086	0.0126	0.0081	0.0088	0.0111	0.0098

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