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12a921f · Aug 20, 2023

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zoo

Model Zoo

🦁 Model checkpoint and config are listed below:

Model NDS mAP mATE mASE mAOE mAVE mAAE Clean Corrupt Ckpt
BEVFormer-Small 0.4787 0.3700 0.7212 0.2792 0.4065 0.4364 0.2201 config config ckpt
BEVFormer-Small w/o temp 0.2622 0.1324 0.9352 0.3024 0.5556 1.1106 0.2466 config config ckpt
BEVFormer-Base 0.5174 0.4164 0.6726 0.2734 0.3704 0.3941 0.1974 config config ckpt
BEVFormer-Base w/o temp 0.4129 0.3461 0.7549 0.2832 0.4520 0.8917 0.2194 config config ckpt
DETR 0.4224 0.3468 0.7647 0.2678 0.3917 0.8754 0.2108 config config ckpt
DETR w cbgs 0.4341 0.3494 0.7163 0.2682 0.3798 0.8421 0.1997 config config ckpt
PETR-r50-p4 0.3665 0.3174 0.8397 0.2796 0.6158 0.9543 0.2326 config config ckpt
PETR-vov-p4 0.4550 0.4035 0.7362 0.2710 0.4316 0.8249 0.2039 config config ckpt
BEVDet-R50 0.3770 0.2987 0.7336 0.2744 0.5713 0.9051 0.2394 config config ckpt
BEVDet-R101# 0.3877 0.3008 0.7035 0.2752 0.5384 0.8715 0.2379 config config ckpt
BEVDet-R101 w pretrain# 0.3780 0.2846 0.7274 0.2796 0.5517 0.8581 0.2264 config config ckpt
BEVDet-Tiny 0.4037 0.3080 0.6648 0.2729 0.5323 0.8278 0.2050 config config ckpt
BEVDepth-R50 0.4058 0.3328 0.6633 0.2714 0.5581 0.8763 0.2369 config config ckpt
BEVerse-Tiny 0.4665 0.3214 0.6807 0.2782 0.4657 0.3281 0.1893 config config ckpt
BEVerse-Tiny w/o Temp 0.1603 0.0826 0.8298 0.5296 0.8771 1.2639 0.5739 config config ckpt
BEVerse-Small 0.4951 0.3512 0.6243 0.2694 0.3999 0.3292 0.1827 config config ckpt
BEVerse-Small w/o Temp 0.2682 0.1513 0.6631 0.4228 0.5406 1.3996 0.4483 config config ckpt
ORA3D 0.4436 0.3677 0.7319 0.2698 0.3890 0.8150 0.1975 config config ckpt
PolarFormer-R101 w aug 0.4585 0.3959 0.7000 0.2696 0.3742 0.8396 0.2113 config config ckpt
PolarFormer-R101 0.4602 0.3916 0.7060 0.2718 0.3610 0.8079 0.2093 config config ckpt
PolarFormer-Vov* 0.5616 0.5004 0.5826 0.2621 0.2473 0.6015 0.1926 config config ckpt
PolarFormer-Vov# 0.4558 0.4028 0.7097 0.2690 0.4019 0.8682 0.2072 config config ckpt
SRCN3D-R101 0.4286 0.3373 0.7783 0.2873 0.3665 0.7806 0.1878 config config ckpt
SRCN3D-Vov* 0.4746 0.3960 0.7375 0.2939 0.2773 0.7281 0.1974 config config ckpt
SRCN3D-Vov# 0.4205 0.3475 0.7855 0.2994 0.4099 0.8352 0.2030 config config ckpt
Sparse4D 0.5438 0.4409 0.6282 0.2721 0.3853 0.2922 0.1888 config config ckpt
SOLOFusion-Short 0.3907 0.3438 0.6691 0.2809 0.6638 0.8803 0.3180 config config ckpt
SOLOFusion-Long 0.4850 0.3862 0.6292 0.2840 0.6387 0.3151 0.2141 config config ckpt
SOLOFusion 0.5381 0.4299 0.5842 0.2747 0.4564 0.2426 0.2103 config config ckpt

Notice

Symbol * means the model used DD3D pre-train weight, which uses the nuScenes validation set. This might cause unfair comparison. For more information please refer to megvii-research/PETR#75 and megvii-research/PETR#80.

Symbol # means our re-implement models.