VoteFlow-av2

AV2 Host Team ·2026-04-10 unsupervised single-dataset archived

mean Dynamic · 0–35 m

0.5855

mean Static · 0–35 m

0.0140

Threeway EPE · 0–35 m

0.1617

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.