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Waymo Open Dataset

We have released the Waymo Open Dataset publicly to aid the research community in making advancements in machine perception and autonomous driving technology.

The Waymo Open Dataset is composed of two datasets - the Perception dataset with high resolution sensor data and labels for 2,030 scenes, and the Motion dataset with object trajectories and corresponding 3D maps for 103,354 scenes.

License

This code repository (excluding src/waymo_open_dataset/wdl_limited folder) is licensed under the Apache License, Version 2.0. The code appearing in src/waymo_open_dataset/wdl_limited is licensed under terms appearing therein. The Waymo Open Dataset itself is licensed under separate terms. Please visit https://waymo.com/open/terms/ for details. Code located in each of the subfolders located at src/waymo_open_dataset/wdl_limited is licensed under (a) a BSD 3-clause copyright license and (b) an additional limited patent license. Each limited patent license is applicable only to code under the respective wdl_limited subfolder, and is licensed for use only with the use case laid out in such license in connection with the Waymo Open Dataset, as authorized by and in compliance with the Waymo Dataset License Agreement for Non-Commercial Use. See wdl_limited/camera/, wdl_limited/camera_segmentation/, wdl_limited/sim_agents_metrics/, respectively, for details.

April 2024 Update

The Rules have been updated to allow training (including pre-training, co-training or fine-tuning models) using frozen, pre-trained weights from publicly available open source models for submissions to the Challenges. We also added a new sets of fields (which are now required, or the server will return an error) in the submission metadatas to track how participants generated their submissions. We updated the tutorials to reflect this change, check out the new fields in the submission proto files for motion, sim agents and occupancy flow.

March 2024 Update

This update contains several changes/addition to the datasets:

Perception dataset (v1.4.3 and v2.0.1):

Motion dataset (v1.2.1):

We also provide the following changes to the code supporting the challenges.

Motion prediction:

Sim Agents:

December 2023 Update

We released v1.6.1 version of the pip package with fixes for the WOSAC metrics:

August 2023 Update

We released a large-scale object-centric asset dataset containing over 1.2M images and lidar observations of two major categories (vehicles and pedestrians) from the Perception Dataset (v2.0.0).

March 2023 Update

This major update includes supporting code to four challenges at waymo.com/open, and dataset updates to both the Perception and Motion Datasets.

v2.0.0 of the Perception Dataset

v1.4.2 of the Perception Dataset

v1.2.0 of the Motion Dataset

Added supporting code for the four 2023 Waymo Open Dataset Challenges

December 2022 Update

We released v1.4.1 of the Perception dataset.

June 2022 Update

We released v1.4.0 of the Perception dataset.

May 2022 Update (part 2)

May 2022 Update

We released v1.3.2 of the Perception dataset to improve the quality and accuracy of the labels.

April 2022 Update

We released v1.3.1 of the Perception dataset to support the 2022 Challenges and have updated this repository accordingly.

March 2022 Update

We released v1.3.0 of the Perception dataset and the 2022 challenges. We have updated this repository to add support for the new labels and the challenges.

September 2021 Update

We released v1.1 of the Motion dataset to include lane connectivity information. To read more on the technical details, please read lane_neighbors_and_boundaries.md.

March 2021 Update

We expanded the Waymo Open Dataset to also include a Motion dataset comprising object trajectories and corresponding 3D maps for over 100,000 segments. We have updated this repository to add support for this new dataset.

Additionally, we added instructions and examples for the real-time detection challenges. Please follow these Instructions.

Website

To read more about the dataset and access it, please visit https://www.waymo.com/open.

Contents

This code repository contains:

Citation

for Perception dataset

@InProceedings{Sun_2020_CVPR, author = {Sun, Pei and Kretzschmar, Henrik and Dotiwalla, Xerxes and Chouard, Aurelien and Patnaik, Vijaysai and Tsui, Paul and Guo, James and Zhou, Yin and Chai, Yuning and Caine, Benjamin and Vasudevan, Vijay and Han, Wei and Ngiam, Jiquan and Zhao, Hang and Timofeev, Aleksei and Ettinger, Scott and Krivokon, Maxim and Gao, Amy and Joshi, Aditya and Zhang, Yu and Shlens, Jonathon and Chen, Zhifeng and Anguelov, Dragomir}, title = {Scalability in Perception for Autonomous Driving: Waymo Open Dataset}, booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)}, month = {June}, year = {2020} }

for Motion dataset

@InProceedings{Ettinger_2021_ICCV, author={Ettinger, Scott and Cheng, Shuyang and Caine, Benjamin and Liu, Chenxi and Zhao, Hang and Pradhan, Sabeek and Chai, Yuning and Sapp, Ben and Qi, Charles R. and Zhou, Yin and Yang, Zoey and Chouard, Aur'elien and Sun, Pei and Ngiam, Jiquan and Vasudevan, Vijay and McCauley, Alexander and Shlens, Jonathon and Anguelov, Dragomir}, title={Large Scale Interactive Motion Forecasting for Autonomous Driving: The Waymo Open Motion Dataset}, booktitle= Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)}, month={October}, year={2021}, pages={9710-9719} }

@InProceedings{Kan_2024_icra, author={Chen, Kan and Ge, Runzhou and Qiu, Hang and Ai-Rfou, Rami and Qi, Charles R. and Zhou, Xuanyu and Yang, Zoey and Ettinger, Scott and Sun, Pei and Leng, Zhaoqi and Mustafa, Mustafa and Bogun, Ivan and Wang, Weiyue and Tan, Mingxing and Anguelov, Dragomir}, title={WOMD-LiDAR: Raw Sensor Dataset Benchmark for Motion Forecasting}, month={May}, booktitle= Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)}, year={2024} }

Dataset Metadata

The following table is necessary for this dataset to be indexed by search engines such as <a href="https://g.co/datasetsearch">Google Dataset Search</a>.

<div itemscope itemtype="http://schema.org/Dataset"> <table> <tr> <th>property</th> <th>value</th> </tr> <tr> <td>name</td> <td><code itemprop="name">Waymo Open Dataset: An autonomous driving dataset</code></td> </tr> <tr> <td>alternateName</td> <td><code itemprop="alternateName">Waymo Open Dataset</code></td> </tr> <tr> <td>url</td> <td><code itemprop="url">https://github.com/waymo-research/waymo-open-dataset</code></td> </tr> <tr> <td>sameAs</td> <td><code itemprop="sameAs">https://github.com/waymo-research/waymo-open-dataset</code></td> </tr> <tr> <td>sameAs</td> <td><code itemprop="sameAs">https://www.waymo.com/open</code></td> </tr> <tr> <td>description</td> <td><code itemprop="description">The Waymo Open Dataset is comprised of high-resolution sensor data collected by autonomous vehicles operated by the Waymo Driver in a wide variety of conditions. We’re releasing this dataset publicly to aid the research community in making advancements in machine perception and self-driving technology.</code></td> </tr> <tr> <td>provider</td> <td> <div itemscope itemtype="http://schema.org/Organization" itemprop="provider"> <table> <tr> <th>property</th> <th>value</th> </tr> <tr> <td>name</td> <td><code itemprop="name">Waymo</code></td> </tr> <tr> <td>sameAs</td> <td><code itemprop="sameAs">https://en.wikipedia.org/wiki/Waymo</code></td> </tr> </table> </div> </td> </tr> <tr> <td>license</td> <td> <div itemscope itemtype="http://schema.org/CreativeWork" itemprop="license"> <table> <tr> <th>property</th> <th>value</th> </tr> <tr> <td>name</td> <td><code itemprop="name">Waymo Dataset License Agreement for Non-Commercial Use (August 2019)</code></td> </tr> <tr> <td>url</td> <td><code itemprop="url">https://waymo.com/open/terms/</code></td> </tr> </table> </div> </td> </tr> </table> </div>