UniFlow-ssf

mean Dynamic · 0–35 m

0.2177

mean Dynamic · 35–70 m

0.3760

mean Dynamic · overall 0–70 m

0.2968

mean Static · 0–35 m

0.0135

Threeway EPE · 0–35 m

0.0388

Notes

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

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.3686	0.1367	0.1868	0.2597	0.1366	0.2177
mean Static	0.0184	0.0129	0.0092	0.0152	0.0118	0.0135
Threeway EPE	0.0712	0.0205	0.0188	0.0644	0.0191	0.0388
Threeway FG Dynamic	0.1619	0.0389	0.0377	0.1690	0.0417	0.0898
Threeway FG Static	0.0437	0.0147	0.0136	0.0096	0.0082	0.0179
Threeway BG Static	0.0080	0.0079	0.0052	0.0147	0.0075	0.0087
CAR Dynamic	0.1960	0.0983	0.1154	0.0778	0.0687	0.1112
CAR Static	0.0189	0.0126	0.0082	0.0169	0.0073	0.0128
OTHER_VEHICLES Dynamic	0.4697	0.1395	0.1573	0.1978	—	0.2411
OTHER_VEHICLES Static	0.0201	0.0173	0.0085	0.0118	—	0.0144
PEDESTRIAN Dynamic	0.3393	0.1851	0.3135	0.4788	0.1926	0.3018
PEDESTRIAN Static	0.0272	0.0149	0.0162	0.0165	0.0139	0.0177
WHEELED_VRU Dynamic	0.4696	0.1238	0.1612	0.2844	0.1484	0.2375
WHEELED_VRU Static	0.0141	0.0120	0.0079	0.0159	0.0190	0.0138
BACKGROUND Static	0.0115	0.0077	0.0052	0.0151	0.0069	0.0093

Metric	Aeva	AV2	nuScenes	TruckScenes	Waymo	Overall
mean Dynamic	0.4620	0.2140	0.5895	0.3776	0.2369	0.3760
mean Static	0.0216	0.0200	0.0190	0.0168	0.0180	0.0191
Threeway EPE	0.0685	0.0352	0.0162	0.0795	0.0330	0.0465
Threeway FG Dynamic	0.1732	0.0733	0.0299	0.2220	0.0758	0.1148
Threeway FG Static	0.0282	0.0230	0.0133	0.0109	0.0141	0.0179
Threeway BG Static	0.0041	0.0092	0.0055	0.0057	0.0090	0.0067
CAR Dynamic	0.2564	0.1671	0.3900	0.1086	0.1087	0.2062
CAR Static	0.0219	0.0222	0.0304	0.0128	0.0135	0.0201
OTHER_VEHICLES Dynamic	0.4491	0.1397	0.4913	0.3294	—	0.3524
OTHER_VEHICLES Static	0.0198	0.0175	0.0276	0.0211	—	0.0215
PEDESTRIAN Dynamic	0.4780	0.3683	0.9322	0.6832	0.3825	0.5688
PEDESTRIAN Static	0.0335	0.0250	0.0170	0.0205	0.0225	0.0237
WHEELED_VRU Dynamic	0.6644	0.1811	0.5443	0.3891	0.2196	0.3997
WHEELED_VRU Static	0.0285	0.0247	0.0147	0.0246	0.0278	0.0241
BACKGROUND Static	0.0040	0.0104	0.0052	0.0049	0.0084	0.0066

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