Skip to main content
Waymo Open Dataset

Challenges

The 2024 Waymo Open Dataset Challenges have closed on May 23, but the leaderboards remain open for benchmarking.

2024 Challenge Winners

We're thrilled to announce the finalists of the 2024 WOD Challenges!

Motion Prediction Challenge

Method and Technical Report

Authors

Affiliation

First Place

MTR v3

Chen Shi, Shaoshuai Shi, Li Jiang

DiDi Global, The Chinese University of Hong Kong

Second Place

ModeSeq

Zikang Zhou, Jianping Wang, Yung-Hui Li, Yu-Kai Huang

City University of Hong Kong, Hon Hai Research Institute, Carnegie Mellon University

Third Place

RMP_Ensemble

Jiawei Sun, Jiahui Li, Tingchen Liu, Chengran Yuan, Shuo Sun, Yuhang Han, Keng Peng Tee, Anthony Wong, Marcelo H. Ang Jr.

National University of Singapore, Moovita Pte Ltd

Sim Agents Challenge

Method and Technical Report

Authors

Affiliation

First Place

BehaviorGPT

Zikang Zhou, Haibo Hu, Xinhong Chen, Jianping Wang, Nan Guan, Kui Wu, Yung-Hui Li, Yu-Kai Huang, Chun Jason Xue

City University of Hong Kong, University of Victoria, Hon Hai Research Institute, Carnegie Mellon University, Mohamed bin Zayed University of Artificial Intelligence,

Second Place

VBD

Zhiyu Huang, Zixu Zhang, Jaime Fernández Fisac, Chen Lv

Nanyang Technological University, Princeton University

Third Place

TrafficBotsV1.5

Zhejun Zhang, Christos Sakaridis, Luc Van Gool

ETH Zurich

Special Mention

MSP

Xinghua Lou, Meet Dave, Shrinu Kushagra, Miguel Lázaro-Gredilla, Kevin Murphy

Google DeepMind

3D Semantic Segmentation Challenge

Method and Technical Report

Authors

Affiliation

First Place

PTv3-EX

Xiaoyang Wu, Xiang Xu, Lingdong Kong, Liang Pan, Ziwei Liu, Tong He, Wanli Ouyang, Hengshuang Zhao

The Univeristy of Hong Kong, Shanghai AI Laboratory, National University of Singapore, Nanyang Technological University

Second Place

MixSeg3D

Qing Wu

Marvell Technology

Third Place

vFusedSeg3D

Osama Amjad, Ammad Nadeem

VisionRD

Occupancy Flow Challenge

Method and Technical Report

Authors

Affiliation

First Place

DOPP

Haochen Liu, Zhiyu Huang, Wenhui Huang, Haohan Yang, Xiaoyu Mo, Hongyang Gao, Chen Lv

Nanyang Technological University

Second Place

STNet

Gaeun Kim, Daeil Han, YeongJun Koh, Hanul Kim

Seoul National University of Science and Technology, Chungnam National University

Third Place

HGNET

Zhan Chen, Chen Tang, Lu Xiong

Tongji University

Visit the individual challenge pages from the links below for a detailed breakdown of the results in the challenge leaderboards. Please note that the detailed leaderboard includes all participants, but only those who met the eligibility criteria and submitted a technical report are recognized as winners.

Awards for Each Challenge

  • First place: $10,000 in Google Cloud credits and a certificate.

  • Second place: $5,000 in Google Cloud credits and a certificate.

  • Third place: $3,000 in Google Cloud credits and a certificate.

Sponsor may also choose to publish the technical report of the first, second, and third place submissions.Additionally, teams with the best performing or noteworthy submissions may be invited to present their work at the Workshop on Autonomous Driving at CVPR in June 2024. Invitations may be extended both to teams using pre-trained weights from open source models, and teams not using them.

2024 Challenges

All four challenges closed on May 23, 2024 at 11:59 PM Pacific Time.

Awards for Each Challenge

  • First place: $10,000 in Google Cloud credits and a certificate.

  • Second place: $5,000 in Google Cloud credits and a certificate.

  • Third place: $3,000 in Google Cloud credits and a certificate.

Sponsor may also choose to publish the technical report of the first, second, and third place submissions.

[April 11, 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.

Additionally, teams with the best performing or noteworthy submissions may be invited to present their work at the Workshop on Autonomous Driving at CVPR in June 2024. Invitations may be extended both to teams using pre-trained weights from open source models, and teams not using them.

2024 WOD Challenges

  • Motion Prediction Given the past 1 second agent history on a corresponding map and the associated lidar and camera data for this time interval, predict the positions of up to 8 agents for 8 seconds into the future. Use of lidar and camera data are optional. New in 2024: camera embeddings and fine-tuned metrics definition.

  • Occupancy and Flow Prediction Challenge Predict the bird’s-eye view (BEV) occupancy and motion flow of all observed and occluded vehicles given observed agent tracks for the last second.

  • Sim Agents Given the agent tracks for the past 1 second on a corresponding map, and optionally the associated lidar for this time interval, simulate 32 realistic joint futures for all the agents in the scene. New in 2024: fine-tuned metrics definition.

  • 3D Semantic Segmentation Given one or more lidar range images and the associated camera images, produce a semantic class label for each lidar point. New in 2024: updated label ground truth.

Official Challenge Rules

Please see the Waymo Open Dataset Challenges 2024 Official Rules here.


Past challenges

2023 WOD Challenges

The awards for the 2023 WOD Challenges (listed below) have already been given out, but the challenge pages and results are still available.

Perception challenges

Motion challenges

2022 WOD Challenges

The awards for the 2022 WOD Challenges (listed below) have already been given out, but the challenge pages and results are still available.

Perception challenges

Motion challenges

2021 WOD Challenges

The awards for the 2021 Challenges (listed below) have already been given out, but the challenge pages and results are still available.

Perception challenges

Motion challenges

2020 WOD Challenges

The awards for the 2020 Challenges (listed below) have already been given out, but the challenge pages and results are still available.

Perception challenges