| cityscapes_sem_iiou-category | cityscapes_sem_iiou-class | cityscapes_sem_iou-category | cityscapes_sem_iou-class | ||
| 1 | MapillaryAI_ROB | 1 (9) 80.2 | 1 (10) 60.1 | 1 (8) 91.1 | 1 (12) 80.5 |
| 2 | LDN2_ROB | 2 (24) 77.1 | 2 (31) 52.3 | 2 (14) 90.1 | 2 (21) 77.9 |
| 3 | IBN-PSP-SA_ROB | 3 (43) 72.0 | 3 (47) 46.3 | 3 (22) 89.1 | 3 (30) 75.1 |
| 4 | VENUS_ROB | 4 (59) 66.7 | 5 (64) 37.1 | 4 (46) 84.5 | 5 (52) 66.4 |
| 5 | AHiSS_ROB | 8 (69) 62.9 | 4 (60) 39.8 | 6 (49) 84.2 | 4 (42) 70.6 |
| 6 | AdapNetv2_ROB | 9 (70) 62.4 | 7 (70) 34.9 | 5 (48) 84.3 | 6 (62) 63.8 |
| 7 | APMoE_seg_ROB | 5 (61) 66.1 | 9 (82) 30.6 | 8 (54) 83.5 | 9 (77) 56.5 |
| 7 | GoogLeNetV1_ROB | 7 (64) 64.4 | 6 (69) 35.1 | 10 (56) 83.0 | 8 (70) 59.6 |
| 9 | BatMAN_ROB | 6 (63) 65.0 | 10 (83) 29.3 | 7 (51) 83.9 | 10 (79) 55.4 |
| 10 | VlocNet++_ROB | 10 (75) 60.8 | 8 (75) 33.9 | 9 (55) 83.4 | 7 (65) 62.7 |