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Waymo Open Dataset

Download Waymo Open Dataset

Here are the datasets in the Waymo Open Dataset for downloading.

The Google Cloud Storage buckets below contain all of the files. This should facilitate programmatic downloading as well as allow easy access from Google Cloud APIs.

Motion Dataset

  • [new] v1.2.1 March 2024: Added camera embeddings data including 8 cameras with 360 degree coverage. Note this data provides embeddings only, not full images. - files

  • v1.2, March 2023: Added Lidar data and driveway labels. Increased the max number of map points in tf_examples to 30k and reduced sampling to 1.0m to increase map coverage, so the coverage equalizes that of the dataset in scenario proto format. - files

  • v1.2, March 2023: Added Lidar data and driveways. Increased the max number of map points in tf_examples to 30k and reduced sampling to 1.0m to increase map coverage, so the coverage equalizes that of the dataset in scenario proto format. - files

  • v1.1, August 2021: Added lane connections, lane boundaries, and lane neighbors. See Github page for technical specs. - files

  • v1.0, March 2021: Initial release - 103,354 segments with maps data - files

Perception Dataset

  • [new]March 2024: we fixed several small errors in the 3D semantic segmentation ground truth labels, especially for the class of motorcyclist. - v1.4.3 files - v2.0.1 files

  • v2.0.0, March 2023: Introduced the dataset in modular format, enabling users to selectively download only the components they need. - files

  • v1.4.2, March 2023: Added 3D map data as polylines or polygons. For 2D panoptic segmentation labels, added a mask to indicate pixels covered by multiple cameras. - files

  • v2.0.0, August 2023: Added the Perception object assets data - files

  • v2.0.0, March 2023: Introduced the dataset in modular format, enabling users to selectively download only the components they need. - file link same as abovev1.4.2, March 2023: Added 3D map data as polylines or polygons. For 2D panoptic segmentation labels, added a mask to indicate pixels covered by multiple cameras. - files

  • v1.4.1, December 2022: Improved the quality of the 2D video panoptic segmentation labels - files

  • v1.4.0, June 2022: Added 2D video panoptic segmentation labels - files

  • v1.3.2, May 2022: Improved the quality of the 3D semantic segmentation labels and 2D key point labels. Added a new field for the 3D Camera-Only Detection Challenge. - files

  • v1.3.1, April 2022: Updated the dataset for the 3D Camera-Only Detection Challenge. This version includes a new test set with 80 segments, and additional fields for training and validation - tar filesindividual files

  • v1.3.0, March 2022: Added 3D semantic segmentation labels, 2D and 3D key points labels, and 2D-to-3D label correspondence labels - files

  • v1.2, March 2020: Added Test Set with 150 segments, plus 800 segments for domain adaptation across Training, Validation, and Test - tar filesindividual files

  • v1.1, February 2020: Added camera labels for 900 segments - tar filesindividual files

  • v1.0, August 2019: Initial release - tar filesindividual files

Community Contributions

WOMD-Reasoning Dataset

  • WOMD-Reasoning Dataset files

  • Released in 2024 by University of California, Berkeley

  • WOMD-Reasoning is a language annotation dataset built on the Waymo Open Motion Dataset, with a focus on describing and reasoning interactions and intentions in driving scenarios. It presents by far the largest Q&A dataset on real-world driving scenarios, with around 3 million Q&As covering various topics of autonomous driving from map descriptions, motion status descriptions, to narratives and analyses of agents’ interactions, behaviors, and intentions.

  • Please note that the languages contained in the current version are auto-labeled, and there may be subsequent release with human verification and improved accuracy.

  • GitHub, and paper: "WOMD-Reasoning: A Large-Scale Language Dataset for Interaction and Driving Intentions Reasoning"

ROAD-Waymo Dataset

Causal Agents Labels

Scene Flow Labels

  • Scene flow labels files

  • Released in 2021, by Google Brain and Waymo

  • The scene flow labels builds on Perception v1.2 of the Waymo Open Dataset. This release comprises supervised labels for each point cloud reflection with a direction and magnitude of motion at each time step. These labels are derived from tracked bounding boxes associated with labeled objects in the scene.

  • Paper: "Scalable Scene Flow from Point Clouds in the Real World"