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)

Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Dataset. - Scott Ettinger; Shuyang Cheng; Benjamin Caine; Chenxi Liu 001; Hang Zhao; Sabeek Pradhan; Yuning Chai; Ben Sapp; Charles R. Qi; Yin Zhou; Zoey Yang; Aurelien Chouard; et al. (ICCV, 2021)