{"url":"/dataset/argoverse-2","name":"Argoverse 2","full_name":null,"description_markdown":"Argoverse 2 (AV2) is a collection of three datasets for perception and forecasting research in the self-driving domain. The annotated Sensor Dataset contains 1,000 sequences of multimodal data, encompassing high-resolution imagery from seven ring cameras, and two stereo cameras in addition to lidar point clouds, and 6-DOF map-aligned pose. Sequences contain 3D cuboid annotations for 26 object categories, all of which are sufficiently-sampled to support training and evaluation of 3D perception models. The Lidar Dataset contains 20,000 sequences of unlabeled lidar point clouds and map-aligned pose. This dataset is the largest ever collection of lidar sensor data and supports self-supervised learning and the emerging task of point cloud forecasting. Finally, the Motion Forecasting Dataset contains 250,000 scenarios mined for interesting and challenging interactions be- tween the autonomous vehicle and other actors in each local scene. Models are tasked with the prediction of future motion for “scored actors\" in each scenario and are provided with track histories that capture object location, heading, velocity, and category. In all three datasets, each scenario contains its own HD Map with 3D lane and crosswalk geometry — sourced from data captured in six distinct cities. We believe these datasets will support new and existing machine learning research problems in ways that existing datasets do not. All datasets are released under the CC BY-NC-SA 4.0 license.","description_withheld":null,"homepage":"https://www.argoverse.org/av2.html","introduced_date":"2022-01-16","introduced_date_note":null,"introduced_by":{"paper":"/paper/argoverse-2-next-generation-datasets-for-self-1","title":"Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting","first_author":"Benjamin Wilson","url":null},"license":{"name":"CC BY-NC-SA 4.0","url":null},"modalities":[{"name":"LiDAR","url":"/datasets/modality/lidar"}],"tasks":[{"name":"3D Object Detection","url":"/task/3d-object-detection","datasets_with_task":"/datasets/task/3d-object-detection"},{"name":"Scene Flow Estimation","url":"/task/scene-flow-estimation","datasets_with_task":"/datasets/task/scene-flow-estimation"},{"name":"Dynamic Point Removal","url":"/task/dynamic-point-removal","datasets_with_task":"/datasets/task/dynamic-point-removal"},{"name":"Self-supervised Scene Flow Estimation","url":"/task/self-supervised-scene-flow-estimation","datasets_with_task":"/datasets/task/self-supervised-scene-flow-estimation"}],"languages":[{"name":"English","url":"/datasets/language/english"}],"variants":["Argoverse 2"],"data_loaders":[{"repo":"https://github.com/woodoxen/tactics2d","url":"https://tactics2d.readthedocs.io/en/latest/","frameworks":[]}],"num_papers_in_archive":185,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[{"leaderboard":"/sota/scene-flow-estimation-on-argoverse-2","task":"Scene Flow Estimation","dataset_variant":"Argoverse 2","rows":7,"metrics":["EPE 3-Way","EPE Foreground Dynamic","EPE Foreground Static","EPE Background Static"],"first_row_in_archive_order":{"model":"DeFlow","paper":"/paper/deflow-decoder-of-scene-flow-network-in","metrics":{"EPE 3-Way":"0.034295","EPE Background Static":"0.004561","EPE Foreground Dynamic":"0.073231","EPE Foreground Static":"0.025093"},"code_links":[{"title":"kth-rpl/dynamicmap_benchmark","url":"https://github.com/kth-rpl/dynamicmap_benchmark"},{"title":"kth-rpl/deflow","url":"https://github.com/kth-rpl/deflow"},{"title":"kth-rpl/seflow","url":"https://github.com/kth-rpl/seflow"},{"title":"tudelft-iv/voteflow","url":"https://github.com/tudelft-iv/voteflow"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/self-supervised-scene-flow-estimation-on-1","task":"Self-supervised Scene Flow Estimation","dataset_variant":"Argoverse 2","rows":6,"metrics":["EPE 3-Way","EPE Foreground Dynamic","EPE Foreground Static","EPE Background Static"],"first_row_in_archive_order":{"model":"SeFlow","paper":"/paper/seflow-a-self-supervised-scene-flow-method-in","metrics":{"EPE 3-Way":"0.048590","EPE Background Static":"0.005990","EPE Foreground Dynamic":"0.121375","EPE Foreground Static":"0.018404"},"code_links":[{"title":"kth-rpl/deflow","url":"https://github.com/kth-rpl/deflow"},{"title":"kth-rpl/seflow","url":"https://github.com/kth-rpl/seflow"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/dynamic-point-removal-on-argoverse-2","task":"Dynamic Point Removal","dataset_variant":"Argoverse 2","rows":4,"metrics":["associated accuracy","static accuracy","dynamic accuracy"],"first_row_in_archive_order":{"model":"Dynablox","paper":null,"metrics":{"associated accuracy":"94.46","dynamic accuracy":"92.87","static accuracy":"96.08"},"code_links":[]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"}],"papers_with_a_benchmark_row":[{"paper":"/paper/seflow-a-self-supervised-scene-flow-method-in","title":"SeFlow: A Self-Supervised Scene Flow Method in Autonomous Driving","date":"2024-07-01","rows_on_this_dataset":2,"code_links":2,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":2,"samples_ran":0,"samples_unverified":2,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/icp-flow-lidar-scene-flow-estimation-with-icp","title":"ICP-Flow: LiDAR Scene Flow Estimation with ICP","date":"2024-02-27","rows_on_this_dataset":1,"code_links":1,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":9,"samples_ran":8,"samples_unverified":1,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/deflow-decoder-of-scene-flow-network-in","title":"DeFlow: Decoder of Scene Flow Network in Autonomous Driving","date":"2024-01-29","rows_on_this_dataset":1,"code_links":4,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":5,"samples_ran":0,"samples_unverified":5,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/zeroflow-fast-zero-label-scene-flow-via","title":"ZeroFlow: Scalable Scene Flow via Distillation","date":"2023-05-17","rows_on_this_dataset":3,"code_links":1,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":2,"samples_ran":1,"samples_unverified":1,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/fast-neural-scene-flow","title":"Fast Neural Scene Flow","date":"2023-04-18","rows_on_this_dataset":2,"code_links":1,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":2,"samples_ran":0,"samples_unverified":2,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/neural-scene-flow-prior","title":"Neural Scene Flow Prior","date":"2021-11-01","rows_on_this_dataset":2,"code_links":1,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":1,"samples_ran":1,"samples_unverified":0,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/scalable-scene-flow-from-point-clouds-in-the","title":"Scalable Scene Flow from Point Clouds in the Real World","date":"2021-03-01","rows_on_this_dataset":1,"code_links":5,"syntology":null}],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":6,"samples_harvested":21,"samples_ran":10,"samples_unverified":11,"pointer_only_for_licence":0,"papers_with_no_sample_that_ran":3,"note":"the per-paper counts above, summed; not a rate"},"papers_note":"The archive never published its papers-using-dataset list; these are papers with a leaderboard row on this dataset's benchmarks."}