Datasets › Argoverse-HD
Argoverse-HD
Argoverse-HD is a dataset built for streaming object detection, which encompasses real-time object detection, video object detection, tracking, and short-term forecasting. It contains the video data from Argoverse 1.1 with our own MS COCO-style bounding box annotations with track IDs. The annotations are backward-compatible with COCO as one can directly evaluate COCO pre-trained models on this dataset to estimate the efficiency or the cross-dataset generalization capability of the models. The dataset contains high-quality and temporally-dense annotations for high-resolution videos (1920 x 1200 @ 30 FPS). Overall, there are 70,000 image frames and 1.3 million bounding boxes.
Argoverse-HD is the dataset used in the Streaming Perception Challenge, which includes two tracks:
- Detection-only (real-time object detection). In this track, the participants will develop single-frame object detectors as they would for COCO and LVIS challenges. The crucial distinction is that the evaluation will score latency through streaming accuracy.
- Full-stack. In this track, the method is unrestricted. However, most likely tracking and forecasting will be used to compensate for the latency of the detectors.
By default, all submissions measure their latency on a V100 GPU with the official toolkit.
Benchmarks archive 2025-07-28
All 4 leaderboards whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.
| First row (archive order) | Paper | Code | ||||
|---|---|---|---|---|---|---|
| Real-Time Object Detection | Argoverse-HD (Full-Stack, Val) | RL-Based Dynamic-Online Policy AP 26.01 | — | — | 4 | Compare |
| Real-Time Object Detection | Argoverse-HD (Detection-Only, Test) | YOLOX AP 41.1 | YOLOX: Exceeding YOLO Series in 2021 | open-mmlab/mmdetection +41 | 3 | Compare |
| Real-Time Object Detection | Argoverse-HD (Full-Stack, Test) | YOLOX AP 41.1 | YOLOX: Exceeding YOLO Series in 2021 | open-mmlab/mmdetection +41 | 3 | Compare |
| Real-Time Object Detection | Argoverse-HD (Detection-Only, Val) | YOLOX AP 47.42 | YOLOX: Exceeding YOLO Series in 2021 | open-mmlab/mmdetection +41 | 2 | Compare |
Papers archive 2025-07-28
4 shown of 4 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 19. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.
| Date | Samples run Syntology | |||
|---|---|---|---|---|
| DaDe: Delay-adaptive Detector for Streaming Perception | 1 | 1 | 22 Dec 2022 | not harvested |
| Real-time Object Detection for Streaming Perception | 1 | 1 | 23 Mar 2022 | ran 0 of 2 samples (2 unverified) |
| YOLOX: Exceeding YOLO Series in 2021 | 42 | 3 | 18 Jul 2021 | ran 1 of 23 samples (22 unverified) |
| Towards Streaming Perception | 1 | 4 | 21 May 2020 | not harvested |
Dataset loaders archive 2025-07-28
No loader listed in the archive.
Tasks archive 2025-07-28
License archive 2025-07-28
Modalities archive 2025-07-28
Languages archive 2025-07-28
No language tagged.
Variants archive 2025-07-28
- Argoverse-HD (Full-Stack, Test)
- Argoverse-HD (Full-Stack, Val)
- Argoverse-HD (Detection-Only, Test)
- Argoverse-HD (Detection-Only, Val)
- Argoverse-HD Val (Detection-Only)
- Full-Stack (Val Set)
- Detection-Only (Val Set)
- Full-Stack (Test Set)
- Detection-Only (Test Set)
- Argoverse-HD
10 variant names, as the archive lists them.
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