SynFlow-4k

mean Dynamic · 0–35 m

0.1899

mean Dynamic · 35–70 m

0.3233

mean Dynamic · overall 0–70 m

0.2566

mean Static · 0–35 m

0.0117

Threeway EPE · 0–35 m

0.0754

Notes

trained on SynFlow-4k Synthetic dataset only

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

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.