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Scalability in Perception for Autonomous Driving: Waymo Open Dataset. - Pei Sun; Henrik Kretzschmar; Xerxes Dotiwalla; Aurelien Chouard; Vijaysai Patnaik; Paul Tsui; James Guo; Yin Zhou; Yuning Chai; Benjamin Caine; Vijay Vasudevan; Wei Han 002; et al. (CVPR, 2020)