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Waymo Open Dataset

Motion Prediction


Given agents' tracks for the past 1 second on a corresponding map, predict the positions of up to 8 agents for 8 seconds into the future. To enable the motion prediction challenge, the ground truth future data for the test set is hidden from challenge participants. As such, the test sets contain only 1 second of history data. The validation sets contain the ground truth future data for use in model development. In addition, the test and validation sets provide a list of up to 8 object tracks in the scene to be predicted. These are selected to include interesting behavior and a balance of object types.


This leaderboard only displays submissions made on or after March 18, 2024, when the 2024 Waymo Open Dataset Challenges start.

With the latest v1.2.1 of the Motion Dataset, Lidar and Camera data is now available for the 1s history data.

[Update March 2024] We have improved the logic behind the behavior bucketing used for mAP. This introduced some marginal changes to the mAP metric which will be reflected in the current leaderboard. Past leaderboards will maintain the scores before this change, and these changes will not impact results of previous challenges. Past leaderboards and challenges are available here.

Note: the rankings displayed on this leaderboard may not accurately reflect the final rankings for this Challenge.