Access Waymo Open Dataset

License Agreement

Waymo Dataset License Agreement for Non-Commercial Use (March 2025)

To aid the research community in making advancements in machine perception and autonomous driving technology, Waymo has opened up to the public a curated set of autonomous driving data that can be used for research. The dataset, located at waymo.com/open, is made available free of charge, but under the terms and conditions below. The dataset contains lidar and camera data, which were collected in diverse conditions, modified to respect individuals’ privacy, and labeled and formatted to aid in research. We hope you find it useful.

By downloading or using the Dataset, You are agreeing to the following terms and conditions (“Terms"):

“Dataset" means the Waymo Open Dataset available at waymo.com/open and any data in the Waymo Open Dataset.

“Derivative IP" means any derivative work of the Dataset; any other work made or developed using the Dataset, including any machine-learning model, software, or algorithm, including architectures, weights, and parameters, that have been trained, refined, or tuned, in whole or in part, using the Dataset (or new datasets or outputs generated therefrom); and any invention conceived or reduced to practice, directly or indirectly, through the use of the Dataset.

“Non-commercial Purposes" means research, teaching, scientific publication and personal experimentation. Non-commercial Purposes include use of the Dataset to perform benchmarking for purposes of academic or applied research publication. Non-commercial Purposes does not include purposes primarily intended for or directed towards commercial advantage or monetary compensation, or purposes intended for or directed towards litigation, licensing, or enforcement, even in part.

“Production Systems" means computer, network, and datacenter infrastructure, and other systems primarily intended to provide a product or service to customers or other third parties, even if no monetary compensation is received for such a service.

“Waymo" means Waymo LLC.

“You" means the individual or entity exercising the rights granted under this License Agreement.

Waymo grants You a non-exclusive, royalty-free, personal license to use, reproduce, and modify the Dataset for Non-commercial Purposes only and expressly subject to the following conditions:

1. Attribution: You must provide one of the following attributions in any Derivative IP: This [type of work, e.g., publication, software, model] was made using the Waymo Open Dataset, provided by Waymo LLC under the Waymo Dataset License Agreement for Non-Commercial Use, available at waymo.com/open/terms, and your access and use of such work are governed by the terms and conditions therein.
   
   @misc{waymo_open_dataset, title = {Waymo Open Dataset: An autonomous driving dataset}, website = {\url{https://www.waymo.com/open}}, year = {2019-2025} }

2. Sharing: Subject to these Terms, you may share as follows: 

   1. De Minimis: You may publish small extracts of data taken from the Dataset for purposes of illustration in Your research publications; 

   2. Dataset Community Distribution Only: You may distribute the Dataset and copies and modifications thereof, but only if (i) distribution is limited to those who have registered at waymo.com/open and agreed to these Terms and (ii) You agree not to prepare, initiate, assert, or otherwise support any claim against Waymo or any authorized licensee of the Dataset for violation of any of Your rights protecting the distributed work; and

   3. Model Architectures Non-commercial Distribution Only: You may publish, in whole or in part, trained model architectures, including weights and biases, developed using the Dataset, and their associated derivatives including new datasets generated therefrom (collectively, “Distributed WOD Models”), provided that You meet the following conditions:

      1. You must include a prominent notice to Your users or recipients stating that (x) Your Distributed WOD Models is released under this Agreement and (y) any further downstream use or modification of such Distributed WOD Models is subject to the Terms of this Agreement, including the non-commercial restrictions of Section 4. 

      2. This Agreement shall apply to Your users or recipients with respect to the whole of Your Distributed WOD Models, and You may provide Your own copyright statement and add additional terms and conditions for Your Distributed WOD Models, provided that they do not conflict with the non-commercial restrictions of Section 4 and the Terms of this Agreement; 

      3. You must give any third-party recipients of Your Distributed WOD Models a copy of this Agreement; and

      4. You must provide attribution in accordance with Section 1 (above). 

3. Privacy: You may not use the Dataset in any manner that violates applicable privacy laws.

4. Additional Restrictions: To ensure the Dataset is only used for Non-commercial Purposes, You further agree to the following: 

   1. You must not use or deploy the Dataset, any models trained on or refined using the Dataset, or the weights or biases from such trained models, in whole or in part, (i) in operation of a vehicle or to assist in the operation of a vehicle, (ii) in any Production Systems, or (iii) for any other primarily commercial purposes; and

   2. Upon use of any Distributed WOD Models for any purpose that is not a Non-commercial Purpose per Section 4(a), or is otherwise in breach of this Agreement, (i) any rights granted to you to create any Distributed WOD Models and any rights in the Distributed WOD Models, granted by You or Your recipients to third parties, shall be null and void ab initio; (ii) any rights granted under this Agreement or the license or legal agreement governing use and/or distribution of the Distributed WOD Models to any third party recipient is terminated automatically; (iii) such third party recipient of Your Distributed WOD Models shall cease use of and delete the Dataset and the Distributed WOD Models, and any copies thereof; and (iv) the license granted in Section 5(b) of this Agreement immediately becomes effective. 

5. Limited Non-Assert: In consideration for access to this Dataset and/or this royalty-free license from Waymo, You (also on behalf of Your successors and assignees of any rights protecting Your Derivative IP) (a) agree not to prepare, initiate, assert, or otherwise support any claim against Waymo or any of its affiliates, successors, or assignees, for infringement, misappropriation or other violation of any rights protecting Your Derivative IP, and (b) grant Waymo and the other parties in (a) above a license to such rights, with such license becoming effective only if You breach the obligations of Section 5(a) or Section 4(b).

6. Website Terms: You agree to the Waymo Terms of Service (https://waymo.com/terms/) (“ToS") in connection with your use of the Dataset and Waymo’s website, including Sections 9 Indemnification, 10 Disclaimers, and 11 Limitation of Liability.

7. ADDITIONAL DISCLAIMER AND LIMITATION OF LIABILITY: YOU AGREE THE DATASET AND ANY DERIVATIVE IP IS PROVIDED “AS-IS" AND WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING WITHOUT LIMITATION WARRANTIES OF TITLE, MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND NON-INFRINGEMENT. TO THE FULLEST EXTENT PERMITTED BY LAW, IN NO EVENT SHALL WAYMO AND THE OTHER WAYMO PARTIES, AS DEFINED IN THE TOS, BE LIABLE UNDER ANY LEGAL THEORY WITH RESPECT THE DATASET AND ANY DERIVATIVE IP, OR YOUR USE OF THE DATASET OR ANY DERIVATIVE IP, FOR ANY DIRECT, INDIRECT, CONSEQUENTIAL, EXEMPLARY, INCIDENTAL, PUNITIVE, OR SPECIAL DAMAGES OR LOST PROFITS.

8. Waymo reserves all rights not expressly granted. If you would like a license that allows commercial use of the Dataset, or have any other questions, please contact open-dataset@waymo.com.

9. If You fail to comply with these terms, then any rights granted to You hereunder terminate automatically and You agree to remove access to and delete the Dataset.

If the institution You identify at registration or another entity exercises the rights granted under this License Agreement by virtue of Your download or use of the Dataset, You represent and warrant that: (a) You are authorized to agree to this license agreement on behalf of the entity or (b) You have confirmed that a person with authority to agree to this license agreement on behalf of the entity has already registered on behalf of the entity.