Our progress on the road is in many ways enabled by the same type of data we make available for research to the scientific community via the Waymo Open Dataset, one of the largest and most diverse autonomous driving datasets ever released. 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. In addition to the Challenges, we’re expanding the Motion dataset with encoded camera data for use in behavioral models, which further encourages research on end-to-end behavior prediction and perception system development.