SeFlow-av2

AV2 Host Team ·2026-04-10 unsupervised single-dataset archived paper / code ↗

mean Dynamic · 0–35 m

0.6289

mean Static · 0–35 m

0.0152

Threeway EPE · 0–35 m

0.1770

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.