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1. Indoor semantic segmentation

Model Benchmark Additional Data Num GPUs Val mIoU Config Tensorboard Exp Record
PTv3 ScanNet βœ— 4 77.6% link link link
PTv3 + PPT ScanNet βœ“ 8 78.5% link link link
PTv3 ScanNet200 βœ— 4 35.3% link link link
PTv3 + PPT ScanNet200 βœ“ (f.t.) 4
PTv3 S3DIS (Area5) βœ— 4 73.6% link link link
PTv3 + PPT S3DIS (Area5) βœ“ 8 75.4% link link link

2. Outdoor semantic segmentation

Model Benchmark Additional Data Num GPUs Val mIoU Config Tensorboard Exp Record
PTv3 nuScenes βœ— 4 80.3 link link link
PTv3 + PPT nuScenes βœ“ 8
PTv3 SemanticKITTI βœ— 4
PTv3 + PPT SemanticKITTI βœ“ 8
PTv3 Waymo βœ— 4 71.2 link link link (log only)
PTv3 + PPT Waymo βœ“ 8
  • Model weights trained with Waymo Open Dataset cannot be released due to the regulations.
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