UniFlow-flow4d

mean Dynamic · 0–35 m

0.1955

mean Dynamic · 35–70 m

0.3333

mean Dynamic · overall 0–70 m

0.2644

mean Static · 0–35 m

0.0134

Threeway EPE · 0–35 m

0.0448

Notes

UniFlow version trained on four datasets: av2, nus, waymo, truckscene for Flow4D model, with long-range auto-adaptation.

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.2837	0.1184	0.2085	0.2485	0.1182	0.1955
mean Static	0.0220	0.0116	0.0071	0.0172	0.0094	0.0134
Threeway EPE	0.0781	0.0195	0.0177	0.0897	0.0191	0.0448
Threeway FG Dynamic	0.1450	0.0377	0.0392	0.2332	0.0441	0.0999
Threeway FG Static	0.0629	0.0134	0.0111	0.0103	0.0064	0.0208
Threeway BG Static	0.0263	0.0074	0.0029	0.0257	0.0069	0.0138
CAR Dynamic	0.1535	0.0953	0.1728	0.0769	0.0744	0.1146
CAR Static	0.0203	0.0109	0.0063	0.0165	0.0051	0.0119
OTHER_VEHICLES Dynamic	0.3381	0.1402	0.2496	0.2220	—	0.2375
OTHER_VEHICLES Static	0.0215	0.0155	0.0071	0.0111	—	0.0138
PEDESTRIAN Dynamic	0.2647	0.1389	0.2748	0.4122	0.1552	0.2491
PEDESTRIAN Static	0.0248	0.0136	0.0125	0.0166	0.0108	0.0156
WHEELED_VRU Dynamic	0.3785	0.0993	0.1370	0.2831	0.1249	0.2046
WHEELED_VRU Static	0.0162	0.0106	0.0066	0.0172	0.0163	0.0134
BACKGROUND Static	0.0270	0.0072	0.0028	0.0244	0.0055	0.0134

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.3879	0.1808	0.5151	0.3792	0.2035	0.3333
mean Static	0.0200	0.0158	0.0150	0.0160	0.0131	0.0160
Threeway EPE	0.0667	0.0329	0.0160	0.1031	0.0326	0.0503
Threeway FG Dynamic	0.1700	0.0706	0.0345	0.2928	0.0815	0.1299
Threeway FG Static	0.0256	0.0192	0.0090	0.0107	0.0089	0.0147
Threeway BG Static	0.0045	0.0088	0.0047	0.0060	0.0074	0.0063
CAR Dynamic	0.2184	0.1458	0.4622	0.1256	0.1219	0.2148
CAR Static	0.0205	0.0187	0.0201	0.0123	0.0087	0.0161
OTHER_VEHICLES Dynamic	0.3919	0.1700	0.5869	0.3502	—	0.3748
OTHER_VEHICLES Static	0.0192	0.0153	0.0201	0.0176	—	0.0181
PEDESTRIAN Dynamic	0.3804	0.2612	0.5742	0.6648	0.3037	0.4369
PEDESTRIAN Static	0.0299	0.0188	0.0101	0.0217	0.0125	0.0186
WHEELED_VRU Dynamic	0.5610	0.1461	0.4372	0.3760	0.1850	0.3411
WHEELED_VRU Static	0.0260	0.0159	0.0203	0.0241	0.0242	0.0221
BACKGROUND Static	0.0041	0.0103	0.0043	0.0045	0.0069	0.0060

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