2026 AV2 Sceneflow Challenge Leaderboard

Method

Team

mean Dynamic

AV2 [0-35] Dyn

Waymo [0-35] Dyn

TruckScenes [0-35] Dyn

NuScenes [0-35] Dyn

Aeva [0-35] Dyn

Date

SynFlow-4k w real-data [link]

KTH-RPL

0.2200

0.1025

0.0997

0.2224

0.1405

0.2360

2026-04-16

Notes:

train on synflow-4k data and four real-world datasets ref. UniFlow (av2, nus, waymo, truckscene train set)

Distance range: 0-35 m

Metric	aeva	av2	nuscenes	truckscene	waymo	Overall
mean Dynamic	0.2360	0.1025	0.1405	0.2224	0.0997	0.1602
mean Static	0.0182	0.0110	0.0068	0.0132	0.0079	0.0114
Threeway EPE	0.0661	0.0173	0.0137	0.0743	0.0173	0.0377
Threeway FG Dynamic	0.1127	0.0319	0.0278	0.2043	0.0407	0.0835
Threeway FG Static	0.0788	0.0125	0.0104	0.0107	0.0057	0.0236
Threeway BG Static	0.0066	0.0074	0.0028	0.0081	0.0057	0.0061
CAR Dynamic	0.1412	0.0838	0.1237	0.0706	0.0731	0.0985
CAR Static	0.0197	0.0107	0.0056	0.0160	0.0045	0.0113
OTHER_VEHICLES Dynamic	0.3180	0.1344	0.1327	0.1563	—	0.1854
OTHER_VEHICLES Static	0.0209	0.0156	0.0071	0.0106	—	0.0135
PEDESTRIAN Dynamic	0.2135	0.1179	0.1880	0.4034	0.1436	0.2133
PEDESTRIAN Static	0.0250	0.0119	0.0124	0.0151	0.0098	0.0148
WHEELED_VRU Dynamic	0.2714	0.0739	0.1177	0.2594	0.0823	0.1610
WHEELED_VRU Static	0.0156	0.0096	0.0059	0.0158	0.0130	0.0120
BACKGROUND Static	0.0100	0.0072	0.0027	0.0086	0.0043	0.0066

Distance range: 35-70 m

Metric	aeva	av2	nuscenes	truckscene	waymo	Overall
mean Dynamic	0.3024	0.1277	0.4846	0.3327	0.1519	0.2799
mean Static	0.0222	0.0149	0.0186	0.0177	0.0127	0.0172
Threeway EPE	0.0562	0.0271	0.0135	0.0718	0.0235	0.0384
Threeway FG Dynamic	0.1154	0.0519	0.0191	0.1935	0.0496	0.0859
Threeway FG Static	0.0441	0.0179	0.0125	0.0117	0.0091	0.0190
Threeway BG Static	0.0092	0.0115	0.0090	0.0102	0.0119	0.0104
CAR Dynamic	0.1903	0.1125	0.2560	0.1046	0.0822	0.1491
CAR Static	0.0231	0.0165	0.0254	0.0117	0.0085	0.0170
OTHER_VEHICLES Dynamic	0.2773	0.1249	0.3662	0.2141	—	0.2456
OTHER_VEHICLES Static	0.0208	0.0153	0.0231	0.0201	—	0.0198
PEDESTRIAN Dynamic	0.3194	0.1780	0.8708	0.6580	0.2523	0.4557
PEDESTRIAN Static	0.0314	0.0156	0.0100	0.0219	0.0113	0.0180
WHEELED_VRU Dynamic	0.4225	0.0954	0.4454	0.3542	0.1212	0.2877
WHEELED_VRU Static	0.0273	0.0143	0.0262	0.0259	0.0199	0.0227
BACKGROUND Static	0.0086	0.0126	0.0081	0.0088	0.0111	0.0098

UniFlow-deltaflow [link]

AV2 Host Team

0.2421

0.1088

0.1109

0.2408

0.1678

0.2415

2026-04-06

Notes:

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

Distance range: 0-35 m

Metric	aeva	av2	nuscenes	truckscene	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

Distance range: 35-70 m

Metric	aeva	av2	nuscenes	truckscene	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

SynFlow-4k unsupervised [link]

KTH-RPL

0.2566

0.1279

0.1190

0.2523

0.1784

0.2720

2026-04-10

Notes:

trained on SynFlow-4k Synthetic dataset only

Distance range: 0-35 m

Metric	aeva	av2	nuscenes	truckscene	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

Distance range: 35-70 m

Metric	aeva	av2	nuscenes	truckscene	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

UniFlow-flow4d [link]

AV2 Host Team

0.2644

0.1184

0.1182

0.2485

0.2085

0.2837

2026-04-06

Notes:

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

Distance range: 0-35 m

Metric	aeva	av2	nuscenes	truckscene	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

Distance range: 35-70 m

Metric	aeva	av2	nuscenes	truckscene	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

DeltaFlow-av2 [link]

AV2 Host Team

0.2688

0.1033

0.1085

0.2769

0.1895

0.2645

2026-04-06

Notes:

only trained on av2 dataset, long-range auto-adaptation

Distance range: 0-35 m

Metric	aeva	av2	nuscenes	truckscene	waymo	Overall
mean Dynamic	0.2645	0.1033	0.1895	0.2769	0.1085	0.1886
mean Static	0.0184	0.0113	0.0076	0.0226	0.0097	0.0139
Threeway EPE	0.1311	0.0176	0.0195	0.3457	0.0292	0.1086
Threeway FG Dynamic	0.3456	0.0316	0.0427	0.9700	0.0708	0.2921
Threeway FG Static	0.0349	0.0131	0.0106	0.0112	0.0078	0.0156
Threeway BG Static	0.0127	0.0081	0.0052	0.0560	0.0090	0.0182
CAR Dynamic	0.1740	0.0838	0.1781	0.1040	0.0842	0.1248
CAR Static	0.0170	0.0115	0.0067	0.0181	0.0069	0.0120
OTHER_VEHICLES Dynamic	0.3446	0.1322	0.1756	0.2789	—	0.2328
OTHER_VEHICLES Static	0.0204	0.0165	0.0076	0.0116	—	0.0140
PEDESTRIAN Dynamic	0.2369	0.1217	0.2650	0.4160	0.1511	0.2382
PEDESTRIAN Static	0.0237	0.0114	0.0121	0.0152	0.0103	0.0145
WHEELED_VRU Dynamic	0.3026	0.0754	0.1393	0.3088	0.0903	0.1833
WHEELED_VRU Static	0.0153	0.0095	0.0064	0.0155	0.0138	0.0121
BACKGROUND Static	0.0156	0.0079	0.0051	0.0527	0.0078	0.0178

Distance range: 35-70 m

Metric	aeva	av2	nuscenes	truckscene	waymo	Overall
mean Dynamic	0.3508	0.1432	0.6473	0.4239	0.1804	0.3491
mean Static	0.0231	0.0158	0.0146	0.0224	0.0127	0.0177
Threeway EPE	0.1690	0.0297	0.0169	0.3979	0.0517	0.1330
Threeway FG Dynamic	0.4670	0.0582	0.0340	1.1633	0.1348	0.3714
Threeway FG Static	0.0266	0.0195	0.0087	0.0115	0.0105	0.0154
Threeway BG Static	0.0135	0.0115	0.0079	0.0188	0.0099	0.0123
CAR Dynamic	0.2297	0.1286	0.4808	0.1768	0.1361	0.2304
CAR Static	0.0225	0.0194	0.0186	0.0139	0.0107	0.0170
OTHER_VEHICLES Dynamic	0.3654	0.1421	0.6238	0.4458	—	0.3943
OTHER_VEHICLES Static	0.0183	0.0157	0.0175	0.0203	—	0.0179
PEDESTRIAN Dynamic	0.3328	0.1855	0.9688	0.6699	0.2683	0.4850
PEDESTRIAN Static	0.0315	0.0162	0.0110	0.0282	0.0119	0.0198
WHEELED_VRU Dynamic	0.4753	0.1167	0.5159	0.4031	0.1369	0.3296
WHEELED_VRU Static	0.0299	0.0153	0.0185	0.0299	0.0189	0.0225
BACKGROUND Static	0.0134	0.0122	0.0073	0.0198	0.0092	0.0124

UniFlow-ssf [link]

AV2 Host Team

0.2968

0.1367

0.1366

0.2597

0.1868

0.3686

2026-04-06

Notes:

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

Distance range: 0-35 m

Metric	aeva	av2	nuscenes	truckscene	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

Distance range: 35-70 m

Metric	aeva	av2	nuscenes	truckscene	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

SSF-long-av2 [link]

AV2 Host Team

0.4691

0.1597

0.2020

0.6409

0.4338

0.6300

2026-04-06

Notes:

trained only on av2 dataset for SSF long range config.

Distance range: 0-35 m

Metric	aeva	av2	nuscenes	truckscene	waymo	Overall
mean Dynamic	0.6300	0.1597	0.4338	0.6409	0.2020	0.4133
mean Static	0.0181	0.0142	0.0181	0.0145	0.0119	0.0154
Threeway EPE	0.2542	0.0236	0.0408	0.4834	0.0427	0.1689
Threeway FG Dynamic	0.7325	0.0471	0.0886	1.4302	0.1088	0.4815
Threeway FG Static	0.0172	0.0169	0.0230	0.0096	0.0112	0.0156
Threeway BG Static	0.0130	0.0067	0.0109	0.0103	0.0082	0.0098
CAR Dynamic	0.4224	0.1146	0.2694	0.4126	0.1262	0.2690
CAR Static	0.0166	0.0137	0.0186	0.0172	0.0095	0.0151
OTHER_VEHICLES Dynamic	0.6184	0.1699	0.3850	0.6430	—	0.4541
OTHER_VEHICLES Static	0.0206	0.0202	0.0200	0.0116	—	0.0181
PEDESTRIAN Dynamic	0.7236	0.2169	0.5549	0.7798	0.2494	0.5049
PEDESTRIAN Static	0.0256	0.0181	0.0250	0.0159	0.0171	0.0203
WHEELED_VRU Dynamic	0.7556	0.1374	0.5260	0.7283	0.2304	0.4755
WHEELED_VRU Static	0.0155	0.0127	0.0156	0.0168	0.0142	0.0149
BACKGROUND Static	0.0122	0.0065	0.0113	0.0111	0.0068	0.0096

Distance range: 35-70 m

Metric	aeva	av2	nuscenes	truckscene	waymo	Overall
mean Dynamic	0.6059	0.2467	0.8700	0.6001	0.3015	0.5248
mean Static	0.0213	0.0212	0.0205	0.0174	0.0213	0.0204
Threeway EPE	0.2334	0.0398	0.0226	0.4675	0.0730	0.1672
Threeway FG Dynamic	0.6798	0.0825	0.0514	1.3849	0.1903	0.4778
Threeway FG Static	0.0144	0.0278	0.0101	0.0114	0.0197	0.0167
Threeway BG Static	0.0060	0.0090	0.0063	0.0061	0.0091	0.0073
CAR Dynamic	0.3657	0.1859	0.8174	0.2526	0.2010	0.3645
CAR Static	0.0197	0.0281	0.0205	0.0160	0.0205	0.0210
OTHER_VEHICLES Dynamic	0.5921	0.1773	0.7532	0.5956	—	0.5296
OTHER_VEHICLES Static	0.0186	0.0216	0.0217	0.0201	—	0.0205
PEDESTRIAN Dynamic	0.6245	0.4067	0.8580	0.7857	0.4482	0.6246
PEDESTRIAN Static	0.0323	0.0260	0.0267	0.0214	0.0241	0.0261
WHEELED_VRU Dynamic	0.8412	0.2170	1.0513	0.7667	0.2552	0.6263
WHEELED_VRU Static	0.0301	0.0207	0.0276	0.0238	0.0321	0.0269
BACKGROUND Static	0.0059	0.0098	0.0061	0.0057	0.0086	0.0072

TeFlow-av2 unsupervised [link]

AV2 Host Team

0.6125

0.2019

0.1979

0.3884

0.3822

0.3875

2026-04-10

Notes:

Feed-forward SSL on av2 only, teflow-deltaflow-894989-e14-test-v3

Distance range: 0-35 m

Metric	aeva	av2	nuscenes	truckscene	waymo	Overall
mean Dynamic	0.3875	0.2019	0.3822	0.3884	0.1979	0.3116
mean Static	0.0288	0.0169	0.0091	0.0249	0.0118	0.0183
Threeway EPE	0.1458	0.0354	0.0344	0.3071	0.0441	0.1134
Threeway FG Dynamic	0.3646	0.0702	0.0842	0.8557	0.1080	0.2965
Threeway FG Static	0.0434	0.0218	0.0138	0.0121	0.0112	0.0205
Threeway BG Static	0.0295	0.0142	0.0052	0.0534	0.0131	0.0231
CAR Dynamic	0.2451	0.1673	0.2889	0.1584	0.1536	0.2026
CAR Static	0.0208	0.0152	0.0074	0.0175	0.0069	0.0136
OTHER_VEHICLES Dynamic	0.5092	0.2208	0.4659	0.4067	—	0.4006
OTHER_VEHICLES Static	0.0222	0.0182	0.0078	0.0144	—	0.0156
PEDESTRIAN Dynamic	0.3386	0.2734	0.4850	0.6104	0.2589	0.3933
PEDESTRIAN Static	0.0295	0.0202	0.0179	0.0280	0.0164	0.0224
WHEELED_VRU Dynamic	0.4573	0.1461	0.2891	0.3780	0.1811	0.2903
WHEELED_VRU Static	0.0444	0.0178	0.0075	0.0153	0.0133	0.0196
BACKGROUND Static	0.0272	0.0131	0.0049	0.0495	0.0106	0.0211

Distance range: 35-70 m

Metric	aeva	av2	nuscenes	truckscene	waymo	Overall
mean Dynamic	0.8969	0.8826	0.9848	0.9108	0.8920	0.9134
mean Static	0.0203	0.0142	0.0088	0.0161	0.0086	0.0136
Threeway EPE	0.3789	0.1696	0.0227	0.5774	0.2055	0.2708
Threeway FG Dynamic	1.1175	0.4817	0.0623	1.7164	0.6036	0.7963
Threeway FG Static	0.0155	0.0178	0.0048	0.0109	0.0081	0.0114
Threeway BG Static	0.0038	0.0093	0.0009	0.0048	0.0047	0.0047
CAR Dynamic	0.8929	0.8758	0.9683	0.8561	0.8906	0.8968
CAR Static	0.0204	0.0172	0.0092	0.0111	0.0082	0.0132
OTHER_VEHICLES Dynamic	0.9489	0.8981	0.9854	0.9216	—	0.9385
OTHER_VEHICLES Static	0.0197	0.0166	0.0143	0.0179	—	0.0171
PEDESTRIAN Dynamic	0.8944	0.8759	0.9969	0.9770	0.9036	0.9295
PEDESTRIAN Static	0.0325	0.0149	0.0096	0.0250	0.0114	0.0187
WHEELED_VRU Dynamic	0.8513	0.8806	0.9887	0.8885	0.8818	0.8982
WHEELED_VRU Static	0.0252	0.0113	0.0099	0.0222	0.0103	0.0158
BACKGROUND Static	0.0036	0.0109	0.0008	0.0043	0.0043	0.0048

SeFlow++-av2 unsupervised

AV2 Host Team

0.7025

0.2827

0.3192

0.8555

0.6965

0.8057

2026-04-10

Notes:

Feed-forward SSL on av2 only, seflowpp-deflowpp-13987267-e5-test-v3

Distance range: 0-35 m

Metric	aeva	av2	nuscenes	truckscene	waymo	Overall
mean Dynamic	0.8057	0.2827	0.6965	0.8555	0.3192	0.5919
mean Static	0.0181	0.0160	0.0112	0.0132	0.0098	0.0137
Threeway EPE	0.2366	0.0420	0.0550	0.4399	0.0491	0.1645
Threeway FG Dynamic	0.6636	0.0949	0.1378	1.2993	0.1271	0.4645
Threeway FG Static	0.0358	0.0202	0.0186	0.0103	0.0125	0.0195
Threeway BG Static	0.0102	0.0108	0.0086	0.0101	0.0076	0.0095
CAR Dynamic	0.6794	0.2023	0.4641	0.6966	0.2067	0.4498
CAR Static	0.0176	0.0148	0.0106	0.0150	0.0108	0.0138
OTHER_VEHICLES Dynamic	0.9532	0.3075	0.7848	0.8937	—	0.7348
OTHER_VEHICLES Static	0.0208	0.0279	0.0118	0.0101	—	0.0176
PEDESTRIAN Dynamic	0.8372	0.3867	0.8698	0.9326	0.3579	0.6768
PEDESTRIAN Static	0.0264	0.0148	0.0169	0.0157	0.0125	0.0172
WHEELED_VRU Dynamic	0.7531	0.2343	0.6672	0.8990	0.3930	0.5893
WHEELED_VRU Static	0.0173	0.0126	0.0086	0.0154	0.0106	0.0129
BACKGROUND Static	0.0085	0.0100	0.0083	0.0098	0.0053	0.0084

Distance range: 35-70 m

Metric	aeva	av2	nuscenes	truckscene	waymo	Overall
mean Dynamic	0.8631	0.6552	0.9748	0.8473	0.7253	0.8132
mean Static	0.0201	0.0189	0.0315	0.0154	0.0117	0.0195
Threeway EPE	0.2689	0.1149	0.0363	0.4626	0.1280	0.2021
Threeway FG Dynamic	0.7770	0.3076	0.0685	1.3666	0.3639	0.5767
Threeway FG Static	0.0238	0.0233	0.0264	0.0109	0.0119	0.0193
Threeway BG Static	0.0059	0.0139	0.0140	0.0104	0.0081	0.0105
CAR Dynamic	0.6460	0.5686	0.9487	0.6248	0.5499	0.6676
CAR Static	0.0225	0.0218	0.0341	0.0108	0.0146	0.0207
OTHER_VEHICLES Dynamic	0.9049	0.6276	1.0784	0.8592	—	0.8675
OTHER_VEHICLES Static	0.0190	0.0209	0.0393	0.0169	—	0.0240
PEDESTRIAN Dynamic	0.9378	0.7973	1.0269	1.0019	0.9649	0.9458
PEDESTRIAN Static	0.0284	0.0148	0.0328	0.0192	0.0094	0.0209
WHEELED_VRU Dynamic	0.9638	0.6275	0.8454	0.9034	0.6611	0.8002
WHEELED_VRU Static	0.0252	0.0211	0.0383	0.0222	0.0150	0.0243
BACKGROUND Static	0.0055	0.0157	0.0131	0.0079	0.0080	0.0101

VoteFlow-av2 unsupervised

AV2 Host Team

0.7038

0.2904

0.3067

0.8310

0.7035

0.7961

2026-04-10

Notes:

Feed-forward SSL on av2 only, oteflow-voteflow_ivmind_bs4_decoder_4_2-e7-test-v3

Distance range: 0-35 m

Metric	aeva	av2	nuscenes	truckscene	waymo	Overall
mean Dynamic	0.7961	0.2904	0.7035	0.8310	0.3067	0.5855
mean Static	0.0186	0.0161	0.0119	0.0134	0.0101	0.0140
Threeway EPE	0.2281	0.0452	0.0573	0.4277	0.0502	0.1617
Threeway FG Dynamic	0.6338	0.1036	0.1446	1.2620	0.1304	0.4549
Threeway FG Static	0.0404	0.0209	0.0192	0.0104	0.0132	0.0208
Threeway BG Static	0.0102	0.0112	0.0082	0.0108	0.0071	0.0095
CAR Dynamic	0.6445	0.2260	0.4602	0.6252	0.2139	0.4340
CAR Static	0.0189	0.0150	0.0091	0.0155	0.0110	0.0139
OTHER_VEHICLES Dynamic	0.9473	0.3012	0.7939	0.8549	—	0.7243
OTHER_VEHICLES Static	0.0210	0.0246	0.0175	0.0101	—	0.0183
PEDESTRIAN Dynamic	0.8446	0.3827	0.7983	0.9091	0.3752	0.6620
PEDESTRIAN Static	0.0272	0.0171	0.0169	0.0157	0.0135	0.0181
WHEELED_VRU Dynamic	0.7481	0.2516	0.7615	0.9348	0.3312	0.6054
WHEELED_VRU Static	0.0173	0.0132	0.0083	0.0153	0.0110	0.0130
BACKGROUND Static	0.0084	0.0103	0.0079	0.0104	0.0049	0.0084

Distance range: 35-70 m

Metric	aeva	av2	nuscenes	truckscene	waymo	Overall
mean Dynamic	0.8879	0.6656	0.9907	0.8515	0.7142	0.8220
mean Static	0.0203	0.0195	0.0309	0.0155	0.0113	0.0195
Threeway EPE	0.2732	0.1177	0.0375	0.4631	0.1321	0.2047
Threeway FG Dynamic	0.7893	0.3142	0.0698	1.3678	0.3762	0.5834
Threeway FG Static	0.0249	0.0244	0.0279	0.0112	0.0120	0.0201
Threeway BG Static	0.0053	0.0144	0.0149	0.0102	0.0082	0.0106
CAR Dynamic	0.6664	0.5878	0.9670	0.6093	0.5689	0.6799
CAR Static	0.0236	0.0230	0.0358	0.0113	0.0144	0.0216
OTHER_VEHICLES Dynamic	0.9146	0.6461	1.0749	0.8742	—	0.8774
OTHER_VEHICLES Static	0.0195	0.0201	0.0425	0.0171	—	0.0248
PEDESTRIAN Dynamic	1.0032	0.7972	0.9935	0.9996	0.8947	0.9376
PEDESTRIAN Static	0.0282	0.0155	0.0175	0.0192	0.0102	0.0181
WHEELED_VRU Dynamic	0.9675	0.6312	0.9273	0.9228	0.6788	0.8255
WHEELED_VRU Static	0.0252	0.0225	0.0448	0.0223	0.0127	0.0255
BACKGROUND Static	0.0050	0.0162	0.0140	0.0079	0.0080	0.0102

SeFlow-av2 unsupervised [link]

AV2 Host Team

0.7367

0.3113

0.3494

0.8885

0.7543

0.8412

2026-04-10

Notes:

Feed-forward SSL on av2 only

Distance range: 0-35 m

Metric	aeva	av2	nuscenes	truckscene	waymo	Overall
mean Dynamic	0.8412	0.3113	0.7543	0.8885	0.3494	0.6289
mean Static	0.0182	0.0167	0.0167	0.0131	0.0114	0.0152
Threeway EPE	0.2573	0.0476	0.0601	0.4627	0.0572	0.1770
Threeway FG Dynamic	0.7257	0.1093	0.1474	1.3679	0.1463	0.4993
Threeway FG Static	0.0373	0.0223	0.0224	0.0105	0.0169	0.0219
Threeway BG Static	0.0090	0.0112	0.0106	0.0097	0.0082	0.0097
CAR Dynamic	0.7046	0.2365	0.5129	0.7078	0.2334	0.4790
CAR Static	0.0186	0.0166	0.0137	0.0150	0.0143	0.0156
OTHER_VEHICLES Dynamic	0.9604	0.2949	0.8430	0.8673	—	0.7414
OTHER_VEHICLES Static	0.0208	0.0236	0.0299	0.0101	—	0.0211
PEDESTRIAN Dynamic	0.8867	0.4406	0.9291	1.0312	0.4454	0.7466
PEDESTRIAN Static	0.0263	0.0175	0.0187	0.0157	0.0150	0.0186
WHEELED_VRU Dynamic	0.8132	0.2733	0.7322	0.9477	0.3693	0.6272
WHEELED_VRU Static	0.0176	0.0153	0.0113	0.0153	0.0107	0.0140
BACKGROUND Static	0.0077	0.0103	0.0102	0.0096	0.0057	0.0087

Distance range: 35-70 m

Metric	aeva	av2	nuscenes	truckscene	waymo	Overall
mean Dynamic	0.8926	0.6638	1.0514	0.8509	0.7639	0.8445
mean Static	0.0199	0.0201	0.0308	0.0155	0.0138	0.0200
Threeway EPE	0.2775	0.1169	0.0378	0.4634	0.1319	0.2055
Threeway FG Dynamic	0.8045	0.3105	0.0692	1.3685	0.3729	0.5851
Threeway FG Static	0.0226	0.0258	0.0289	0.0110	0.0140	0.0205
Threeway BG Static	0.0055	0.0145	0.0153	0.0105	0.0088	0.0109
CAR Dynamic	0.6827	0.5706	0.9393	0.6121	0.5635	0.6736
CAR Static	0.0221	0.0244	0.0372	0.0110	0.0173	0.0224
OTHER_VEHICLES Dynamic	0.9229	0.6305	1.0890	0.8412	—	0.8709
OTHER_VEHICLES Static	0.0190	0.0215	0.0425	0.0170	—	0.0250
PEDESTRIAN Dynamic	0.9883	0.8085	0.9527	1.0055	1.0261	0.9562
PEDESTRIAN Static	0.0281	0.0165	0.0096	0.0192	0.0113	0.0169
WHEELED_VRU Dynamic	0.9765	0.6455	1.2245	0.9449	0.7021	0.8987
WHEELED_VRU Static	0.0252	0.0218	0.0504	0.0222	0.0178	0.0275
BACKGROUND Static	0.0052	0.0164	0.0143	0.0082	0.0087	0.0106