UniFlow-deltaflow

mean Dynamic · 0–35 m

0.1740

mean Dynamic · 35–70 m

0.3103

mean Dynamic · overall 0–70 m

0.2421

mean Static · 0–35 m

0.0135

Threeway EPE · 0–35 m

0.0363

Notes

UniFlow version trained on four datasets: av2, nus, waymo, truckscene for DeltaFlow model, with long-range auto-adaptation.

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.2415	0.1088	0.1678	0.2408	0.1109	0.1740
mean Static	0.0198	0.0122	0.0097	0.0150	0.0107	0.0135
Threeway EPE	0.0590	0.0187	0.0174	0.0675	0.0192	0.0363
Threeway FG Dynamic	0.1167	0.0340	0.0334	0.1777	0.0402	0.0804
Threeway FG Static	0.0508	0.0133	0.0128	0.0104	0.0081	0.0191
Threeway BG Static	0.0097	0.0087	0.0059	0.0143	0.0092	0.0095
CAR Dynamic	0.1485	0.0841	0.1374	0.0723	0.0733	0.1031
CAR Static	0.0195	0.0111	0.0085	0.0165	0.0068	0.0125
OTHER_VEHICLES Dynamic	0.3171	0.1412	0.1529	0.2047	—	0.2040
OTHER_VEHICLES Static	0.0221	0.0150	0.0094	0.0121	—	0.0147
PEDESTRIAN Dynamic	0.2162	0.1321	0.2452	0.4120	0.1558	0.2323
PEDESTRIAN Static	0.0255	0.0148	0.0156	0.0164	0.0127	0.0170
WHEELED_VRU Dynamic	0.2841	0.0776	0.1358	0.2744	0.1035	0.1751
WHEELED_VRU Static	0.0186	0.0118	0.0091	0.0158	0.0153	0.0141
BACKGROUND Static	0.0131	0.0085	0.0058	0.0142	0.0079	0.0099

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.3297	0.1397	0.5548	0.3586	0.1686	0.3103
mean Static	0.0214	0.0162	0.0132	0.0157	0.0153	0.0164
Threeway EPE	0.0541	0.0278	0.0134	0.0797	0.0252	0.0400
Threeway FG Dynamic	0.1275	0.0540	0.0279	0.2217	0.0544	0.0971
Threeway FG Static	0.0280	0.0191	0.0069	0.0109	0.0111	0.0152
Threeway BG Static	0.0069	0.0102	0.0053	0.0065	0.0101	0.0078
CAR Dynamic	0.1871	0.1182	0.3766	0.1070	0.0883	0.1754
CAR Static	0.0219	0.0187	0.0150	0.0125	0.0106	0.0157
OTHER_VEHICLES Dynamic	0.3047	0.1312	0.5052	0.3104	—	0.3129
OTHER_VEHICLES Static	0.0201	0.0159	0.0151	0.0183	—	0.0174
PEDESTRIAN Dynamic	0.3280	0.2032	0.7620	0.6652	0.2690	0.4455
PEDESTRIAN Static	0.0306	0.0195	0.0096	0.0200	0.0154	0.0190
WHEELED_VRU Dynamic	0.4991	0.1061	0.5753	0.3518	0.1483	0.3361
WHEELED_VRU Static	0.0279	0.0154	0.0214	0.0220	0.0260	0.0225
BACKGROUND Static	0.0064	0.0113	0.0050	0.0056	0.0094	0.0075

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