Waymo Research https://waymo.com/intl/zh-cn/research/ Latest research publications from Waymo http://www.rssboard.org/rss-specification RSS Creator zh-CN Tue, 07 Apr 2026 07:10:32 +0000 LET-3D-AP: Longitudinal Error Tolerant 3D Average Precision for Camera-Only 3D Detection https://waymo.com/research/let-3d-ap-longitudinal-error-tolerant-3d-average-precision-for-camera-only/ Wei-Chih Hung,Henrik Kretzschmar,Vincent Casser,Jyh-Jing Hwang,Dragomir Anguelov https://waymo.com/research/let-3d-ap-longitudinal-error-tolerant-3d-average-precision-for-camera-only/ RIDDLE: Lidar Data Compression with Range Image Deep Delta Encoding https://waymo.com/research/riddle-lidar-data-compression-with-range-image-deep-delta-encoding/ Xuanyu Zhou,Charles R. Qi,Yin Zhou,Dragomir Anguelov https://waymo.com/research/riddle-lidar-data-compression-with-range-image-deep-delta-encoding/ Optimizing Anchor-based Detectors for Autonomous Driving Scenes https://waymo.com/research/optimizing-anchor-based-detectors-for-autonomous-driving-scenes/ Xianzhi Du,Wei-Chih Hung,Tsung-Yin Lin https://waymo.com/research/optimizing-anchor-based-detectors-for-autonomous-driving-scenes/ VN-Transformer: Rotation-Equivariant Attention for Vector Neurons https://waymo.com/research/vn-transformer-rotation-equivariant-attention-for-vector-neurons/ Serge Assaad,Carlton Downey,Rami Al-Rfou,Nigamaa Nayakanti,Ben Sapp https://waymo.com/research/vn-transformer-rotation-equivariant-attention-for-vector-neurons/ CausalAgents: A Robustness Benchmark for Motion Forecasting using Causal Relationships https://waymo.com/research/causalagents-a-robustness-benchmark-for-motion-forecasting-using-causal/ Rebecca Roelofs,Liting Sun,Benjamin Caine,Khaled S. Refaat,Ben Sapp,Scott Ettinger,Wei Chai https://waymo.com/research/causalagents-a-robustness-benchmark-for-motion-forecasting-using-causal/ LidarNAS: Unifying and Searching Neural Architectures for 3D Point Clouds https://waymo.com/research/lidarnas-unifying-and-searching-neural-architectures-for-3d-point-clouds/ Chenxi Liu,Zhaoqi Leng,Pei Sun,Shuyang Cheng,Charles R. Qi,Yin Zhou,Mingxing Tan,Dragomir Anguelov https://waymo.com/research/lidarnas-unifying-and-searching-neural-architectures-for-3d-point-clouds/ SWFormer: Sparse Window Transformer for 3D Object Detection in Point Clouds https://waymo.com/research/swformer-sparse-window-transformer-for-3d-object-detection-in-point-clouds/ Pei Sun,Mingxing Tan,Weiyue Wang,Chenxi Liu,Fei Xia,Zhaoqi Leng,Dragomir Anguelov https://waymo.com/research/swformer-sparse-window-transformer-for-3d-object-detection-in-point-clouds/ Waymo Open Dataset: Panoramic Video Panoptic Segmentation https://waymo.com/research/waymo-open-dataset-panoramic-video-panoptic-segmentation/ Jieru Mei,Alex Zihao Zhu,Xinchen Yan,Hang Yan,Siyuan Qiao,Yukun Zhu,Liang-Chieh Chen,Henrik Kretzschmar,Dragomir Anguelov https://waymo.com/research/waymo-open-dataset-panoramic-video-panoptic-segmentation/ CramNet: Camera-Radar Fusion with Ray-Constrained Cross-Attention for Robust 3D Object Detection https://waymo.com/research/cramnet-camera-radar-fusion-with-ray-constrained-cross-attention-for-robust/ Jyh-Jing Hwang,Henrik Kretzschmar,Joshua Manela,Sean Rafferty,Nicholas Armstrong-Crews,Tiffany Chen,Dragomir Anguelov https://waymo.com/research/cramnet-camera-radar-fusion-with-ray-constrained-cross-attention-for-robust/ LESS: Label-Efficient Semantic Segmentation for LiDAR Point Clouds https://waymo.com/research/less-label-efficient-semantic-segmentation-for-lidar-point-clouds/ Minghua Liu,Yin Zhou,Charles R. Qi,Boqing Gong,Hao Su,Dragomir Anguelov https://waymo.com/research/less-label-efficient-semantic-segmentation-for-lidar-point-clouds/ Motion Inspired Unsupervised Perception and Prediction in Autonomous Driving https://waymo.com/research/motion-inspired-unsupervised-perception-and-prediction-in-autonomous-driving/ Mahyar Najibi,Jingwei Ji,Yin Zhou,Charles R. Qi,Xinchen Yan,Scott Ettinger,Dragomir Anguelov https://waymo.com/research/motion-inspired-unsupervised-perception-and-prediction-in-autonomous-driving/ Instance Segmentation with Cross-Modal Consistency https://waymo.com/research/instance-segmentation-with-cross-modal-consistency/ Alex Zihao Zhu,Vincent Casser,Reza Mahjourian,Henrik Kretzschmar,Sören Pirk https://waymo.com/research/instance-segmentation-with-cross-modal-consistency/ PseudoAugment: Learning to Use Unlabeled Data for Data Augmentation in Point Clouds https://waymo.com/research/pseudoaugment-learning-to-use-unlabeled-data-for-data-augmentation-in-point/ Zhaoqi Leng,Shuyang Cheng,Benjamin Caine,Weiyue Wang,Xiao Zhang,Jonathon Shlens,Mingxing Tan,Dragomir Anguelov https://waymo.com/research/pseudoaugment-learning-to-use-unlabeled-data-for-data-augmentation-in-point/ Improving the Intra-class Long-tail in 3D Detection via Rare Example Mining https://waymo.com/research/improving-the-intra-class-long-tail-in-3d-detection-via-rare-example-mining/ Chiyu Max Jiang,Mahyar Najibi,Charles R. Qi,Yin Zhou,Dragomir Anguelov https://waymo.com/research/improving-the-intra-class-long-tail-in-3d-detection-via-rare-example-mining/ Hierarchical Model-Based Imitation Learning for Planning in Autonomous Driving https://waymo.com/research/hierarchical-model-based-imitation-learning-for-planning-in-autonomous/ Eli Bronstein,Mark Palatucci,Dominik Notz,Brandyn White,Alex Kuefler,Yiren Lu,Supratik Paul,Payam Nikdel,Paul Mougin,Hongge Chen,Justin Fu,Austin Abrams,Punit Shah,Evan Racah,Benjamin Frenkel,Shimon Whiteson,Dragomir Anguelov https://waymo.com/research/hierarchical-model-based-imitation-learning-for-planning-in-autonomous/ Particle-Based Score Estimation for State Space Model Learning in Autonomous Driving https://waymo.com/research/particle-based-score-estimation-for-state-space-model-learning-in-autonomous/ Angad Singh,Omar Makhlouf,Maximilian Igl,Joao Messias,Arnaud Doucet,Shimon Whiteson https://waymo.com/research/particle-based-score-estimation-for-state-space-model-learning-in-autonomous/ Embedding Synthetic Off-Policy Experience for Autonomous Driving via Zero-Shot Curricula https://waymo.com/research/embedding-synthetic-off-policy-experience-for-autonomous-driving-via-zero/ Eli Bronstein,Sirish Srinivasan,Supratik Paul,Aman Sinha,Matthew O'Kelly,Payam Nikdel,Shimon Whiteson https://waymo.com/research/embedding-synthetic-off-policy-experience-for-autonomous-driving-via-zero/ JFP: Joint Future Prediction with Interactive Multi-Agent Modeling for Autonomous Driving https://waymo.com/research/jfp-joint-future-prediction-with-interactive-multi-agent-modeling-for/ Wenjie Luo,Cheolho Park,Andre Cornman,Benjamin Sapp,Dragomir Anguelov https://waymo.com/research/jfp-joint-future-prediction-with-interactive-multi-agent-modeling-for/ HUM3DIL: Semi-supervised Multi-modal 3D Human Pose Estimation for Autonomous Driving https://waymo.com/research/hum3dil-semi-supervised-multi-modal-3d-human-pose-estimation-for-autonomous/ Andrei Zanfir,Mihai Zanfir,Alexander Gorban,Jingwei Ji,Yin Zhou,Dragomir Anguelov,Cristian Sminchisescu https://waymo.com/research/hum3dil-semi-supervised-multi-modal-3d-human-pose-estimation-for-autonomous/ Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarios https://waymo.com/research/imitation-is-not-enough-robustifying-imitation-with-reinforcement-learning/ Yiren Lu,Justin Fu,George Tucker,Xinlei Pan,Eli Bronstein,Becca Roelofs,Benjamin Sapp,Aleksandra Faust,Brandyn White,Shimon Whiteson,Dragomir Anguelov,Sergey Levine https://waymo.com/research/imitation-is-not-enough-robustifying-imitation-with-reinforcement-learning/ WOMD-LiDAR: Raw Sensor Dataset Benchmark for Motion Forecasting https://waymo.com/research/womd-lidar/ Kan Chen,Runzhou Ge,Hang Qiu,Rami Al-Rfou,Charles R. Qi,Xuanyu Zhou,Zoey Yang,Scott Ettinger,Pei Sun,Zhaoqi Leng,Mustafa Baniodeh,Ivan Bogun,Weiyue Wang,Mingxing Tan,Dragomir Anguelov https://waymo.com/research/womd-lidar/ LidarAugment: Searching for Scalable 3D LiDAR Data Augmentations https://waymo.com/research/lidaraugment-searching-for-scalable-3d-lidar-data-augmentations/ Zhaoqi Leng,Guowang Li,Chenxi Liu,Ekin Dogus Cubuk,Pei Sun,Tong He,Dragomir Anguelov,Mingxing Tan https://waymo.com/research/lidaraugment-searching-for-scalable-3d-lidar-data-augmentations/ Wayformer: Motion Forecasting via Simple & Efficient Attention Networks https://waymo.com/research/wayformer/ Nigamaa Nayakanti,Rami Al-Rfou,Aurick Zhou,Kratarth Goel,Khaled S. Refaat,Benjamin Sapp https://waymo.com/research/wayformer/ Pedestrian Crossing Action Recognition and Trajectory Prediction with 3D Human Keypoints https://waymo.com/research/pedestrian-crossing-action-recognition-and-trajectory-prediction-with-3d/ Jiachen Li,Xinwei Shi,Feiyu Chen,Jonathan Stroud,Zhishuai Zhang,Tian Lan,Junhua Mao,Jeonhyung Kang,Khaled S. Refaat,Weilong Yang,Eugene Ie,Congcong Li https://waymo.com/research/pedestrian-crossing-action-recognition-and-trajectory-prediction-with-3d/ MoDAR: Using Motion Forecasting for 3D Object Detection in Point Cloud Sequences https://waymo.com/research/modar-using-motion-forecasting-for-3d-object-detection-in-point-cloud/ Yingwei Li,Charles R. Qi,Yin Zhou,Chenxi Liu,Dragomir Anguelov https://waymo.com/research/modar-using-motion-forecasting-for-3d-object-detection-in-point-cloud/ 3D Human Keypoints Estimation From Point Clouds in the Wild Without Human Labels https://waymo.com/research/3d-human-keypoints-estimation-from-point-clouds-in-the-wild-without-human/ Zhenzhen Weng,Alexander Gorban,Jingwei Ji,Mahyar Najibi,Yin Zhou,Dragomir Anguelov https://waymo.com/research/3d-human-keypoints-estimation-from-point-clouds-in-the-wild-without-human/ NeRDi: Single-View NeRF Synthesis with Language-Guided Diffusion as General Image Priors https://waymo.com/research/nerdi-single-view-nerf-synthesis-with-language-guided-diffusion-as-general/ Congyue Deng,Chiyu Max Jiang,Charles R. Qi,Xinchen Yan,Yin Zhou,Leonidas Guibas,Dragomir Anguelov https://waymo.com/research/nerdi-single-view-nerf-synthesis-with-language-guided-diffusion-as-general/ MotionDiffuser: Controllable Multi-Agent Motion Prediction using Diffusion https://waymo.com/research/motiondiffuser-controllable-multi-agent-motion-prediction-using-diffusion/ Chiyu Max Jiang,Andre Cornman,Cheolho Park,Ben Sapp,Yin Zhou,Dragomir Anguelov https://waymo.com/research/motiondiffuser-controllable-multi-agent-motion-prediction-using-diffusion/ GINA-3D: Learning to Generate Implicit Neural Assets in the Wild https://waymo.com/research/gina-3d-learning-to-generate-implicit-neural-assets-in-the-wild/ Bokui Shen,Xinchen Yan,Charles R. Qi,Mahyar Najibi,Boyang Deng,Leonidas Guibas,Yin Zhou,Dragomir Anguelov https://waymo.com/research/gina-3d-learning-to-generate-implicit-neural-assets-in-the-wild/ The Waymo Open Sim Agents Challenge https://waymo.com/research/the-waymo-open-sim-agents-challenge/ Nico Montali,John Lambert,Paul Mougin,Alex Kuefler,Nick Rhinehart,Michelle Li,Cole Gulino,Tristan Emrich,Zoey Yang,Shimon Whiteson,Brandyn White,Dragomir Anguelov https://waymo.com/research/the-waymo-open-sim-agents-challenge/ Hierarchical Imitation Learning for Stochastic Environments https://waymo.com/research/hierarchical-imitation-learning-for-stochastic-environments/ Maximilian Igl,Punit Shah,Paul Mougin,Sirish Srinivasan,Tarun Gupta,Brandyn White,Kyriacos Shiarlis,Shimon Whiteson https://waymo.com/research/hierarchical-imitation-learning-for-stochastic-environments/ LEF: Late-to-Early Temporal Fusion for LiDAR 3D Object Detection https://waymo.com/research/lef-late-to-early-temporal-fusion-for-lidar-3d-object-detection/ Tong He,Pei Sun,Zhaoqi Leng,Chenxi Liu,Dragomir Anguelov,Mingxing Tan https://waymo.com/research/lef-late-to-early-temporal-fusion-for-lidar-3d-object-detection/ Unsupervised 3D Perception with 2D Vision-Language Distillation for Autonomous Driving https://waymo.com/research/unsupervised-3d-perception-with-2d-vision-language-distillation-for/ Mahyar Najibi,Jingwei Ji,Yin Zhou,Charles R. Qi,Xinchen Yan,Scott Ettinger,Dragomir Anguelov https://waymo.com/research/unsupervised-3d-perception-with-2d-vision-language-distillation-for/ MotionLM: Multi-Agent Motion Forecasting as Language Modeling https://waymo.com/research/motionlm/ Ari Seff,Brian Cera,Dian Chen,Mason Ng,Aurick Zhou,Nigamaa Nayakanti,Khaled S. Refaat,Rami Al-Rfou,Benjamin Sapp https://waymo.com/research/motionlm/ Superpixel Transformers for Efficient Semantic Segmentation https://waymo.com/research/superpixel-transformers-for-efficient-semantic-segmentation/ Alex Zihao Zhu,Jieru Mei,Siyuan Qiao,Hang Yan,Yukun Zhu,Liang-Chieh Chen,Henrik Kretzschmar https://waymo.com/research/superpixel-transformers-for-efficient-semantic-segmentation/ Waymax: An Accelerated, Data-Driven Simulator forLarge-Scale Autonomous Driving Research https://waymo.com/research/waymax/ Cole Gulino,Justin Fu,Wenjie Luo,George Tucker,Eli Bronstein,Yiren Lu,Jean Harb,Xinlei Pan,Yan Wang,Xiangyu Chen,JD Co-Reyes,Rishabh Agarwal,Becca Roelofs,Yao Lu,Nico Montali,Paul Mougin,Zoey Yang,Brandyn White,Aleksandra Faust,Ben Sapp,Dragomir Anguelov https://waymo.com/research/waymax/ MoST: Multi-modality Scene Tokenization for Motion Prediction https://waymo.com/research/most-multi-modality-scene-tokenization-for-motion-prediction/ Norman Mu,Jingwei Ji,Zhenpei Yang,Nate Harada,Haotian Tang,Kan Chen,Charles R. Qi,Runzhou Ge,Kratarth Goel,Zoey Yang,Scott Ettinger,Rami Al-Rfou,Dragomir Anguelov,Yin Zhou https://waymo.com/research/most-multi-modality-scene-tokenization-for-motion-prediction/ Scaling Motion Forecasting Models with Ensemble Distillation https://waymo.com/research/scaling-motion-forecasting-models-with-ensemble-distillation/ Scott Ettinger,Kratarth Goel,Avikalp Srivastava,Rami Al-Rfou https://waymo.com/research/scaling-motion-forecasting-models-with-ensemble-distillation/ STT: Stateful Tracking with Transformers for Autonomous Driving https://waymo.com/research/stt-stateful-tracking-with-transformers-for-autonomous-driving/ Longlong Jing,Ruichi Yu,Xu Chen,Zhengli Zhao,Shiwei Sheng,Colin Graber,Qi Chen,Qinru Li,Shangxuan Wu,Han Deng,Sangjin Lee,Chris Sweeney,Qiurui He,Wei-Chih Hung,Tong He,Xingyi Zhou,Farshid Moussavi,Zijian Guo,Yin Zhou,Mingxing Tan,Weilong Yang,Congcong Li https://waymo.com/research/stt-stateful-tracking-with-transformers-for-autonomous-driving/ UniGen: Unified Modeling of Initial Agent States and Trajectories for Generating Autonomous Driving Scenarios https://waymo.com/research/unigen-unified-modeling-of-initial-agent-states-and-trajectories-for/ Reza Mahjourian,Rongbing Mu,Valerii Likhosherstov,Paul Mougin,Xiukun Huang,Joao Messias,Shimon Whiteson https://waymo.com/research/unigen-unified-modeling-of-initial-agent-states-and-trajectories-for/ PVTransformer: Point-to-Voxel Transformer for Scalable 3D Object Detection https://waymo.com/research/pvtransformer-point-to-voxel-transformer-for-scalable-3d-object-detection/ Zhaoqi Leng,Pei Sun,Tong He,Dragomir Anguelov,Mingxing Tan https://waymo.com/research/pvtransformer-point-to-voxel-transformer-for-scalable-3d-object-detection/ 3D Open-Vocabulary Panoptic Segmentation with 2D-3D Vision-Language Distillation https://waymo.com/research/3d-open-vocabulary-panoptic-segmentation-with-2d-3d-vision-language/ Zihao Xiao,Longlong Jing,Shangxuan Wu,Alex Zihao Zhu,Jingwei Ji,Chiyu Max Jiang,Wei-Chih Hung,Thomas Funkhouser,Anelia Angelova,Weicheng Kuo,Yin Zhou,Shiwei Sheng https://waymo.com/research/3d-open-vocabulary-panoptic-segmentation-with-2d-3d-vision-language/ Improving Agent Behaviors with RL Fine-tuning for Autonomous Driving https://waymo.com/research/improving-agent-behaviors-with-rl-fine-tuning-for-autonomous-driving/ Zhenghao Peng,Wenjie Luo,Yiren Lu,Tianyi Shen,Cole Gulino,Ari Seff,Justin Fu https://waymo.com/research/improving-agent-behaviors-with-rl-fine-tuning-for-autonomous-driving/ Rate-Informed Discovery via Bayesian Adaptive Multifidelity Sampling https://waymo.com/research/rate-informed-discovery-via-bayesian-adaptive-multifidelity-sampling/ Aman Sinha,Payam Nikdel,Supratik Paul,Shimon Whiteson https://waymo.com/research/rate-informed-discovery-via-bayesian-adaptive-multifidelity-sampling/ EMMA: End-to-End Multimodal Model for Autonomous Driving https://waymo.com/research/emma/ Jyh-Jing Hwang,Runsheng Xu,Hubert Lin,Wei-Chih Hung,Jingwei Ji,Kristy Choi,Di Huang,Tong He,Paul Covington,Benjamin Sapp,Yin Zhou,James Guo,Dragomir Anguelov,Mingxing Tan https://waymo.com/research/emma/ SceneDiffuser: Efficient and Controllable Driving Simulation Initialization and Rollout https://waymo.com/research/scenediffuser-efficient-and-controllable-driving-simulation-initialization/ Chiyu Max Jiang,Yijing Bai,Andre Cornman,Christopher Davis,Xiukun Huang,Hong Jeon,Sakshum Kulshresth,John Lambert,Shuangyu Li,Xuanyu Zhou,Carlos Fuertes,Chang Yuan,Mingxing Tan,Yin Zhou,Dragomir Anguelov https://waymo.com/research/scenediffuser-efficient-and-controllable-driving-simulation-initialization/ S4-Driver: Scalable Self-Supervised Driving Multimodal Large Language Model with Spatio-Temporal Visual Representation https://waymo.com/research/s4-driver-scalable-self-supervised-driving-multimodal-large-language-model/ Yichen Xie,Runsheng Xu,Tong He,Jyh-Jing Hwang,Katie Luo,Jingwei Ji,Hubert Lin,Letian Chen,Yiren Lu,Zhaoqi Leng,Dragomir Anguelov,Mingxing Tan https://waymo.com/research/s4-driver-scalable-self-supervised-driving-multimodal-large-language-model/ Scaling Laws of Motion Forecasting and Planning https://waymo.com/research/scaling-laws-of-motion-forecasting-and-planning/ Mustafa Baniodeh,Kratarth Goel,Scott Ettinger,Carlos Fuertes,Ari Seff,Tim Shen,Cole Gulino,Chenjie Yang,Ghassen Jerfel,Dokook Choe,Rui Wang,Vinutha Kallem,Sergio Casas,Rami Al-Rfou,Benjamin Sapp,Dragomir Anguelov https://waymo.com/research/scaling-laws-of-motion-forecasting-and-planning/ SceneCrafter: Controllable Multi-View Driving Scene Editing https://waymo.com/research/scenecrafter-controllable-multi-view-driving-scene-editing/ Zehao Zhu,Yuliang Zou,Chiyu Max Jiang,Bo Sun,Vincent Casser,Xiukun Huang,Jiahao Wang,Zhenpei Yang,Ruiqi Gao,Leonidas Guibas,Mingxing Tan,Dragomir Anguelov https://waymo.com/research/scenecrafter-controllable-multi-view-driving-scene-editing/ SceneDiffuser++: City-Scale Traffic Simulation via a Generative World Model https://waymo.com/research/scenediffuser-city-scale-traffic-simulation-via-a-generative-world-model/ Shuhan Tan,John Lambert,Hong Jeon,Sakshum Kulshrestha,Yijing Bai,Jing Luo,Dragomir Anguelov,Mingxing Tan,Chiyu Max Jiang https://waymo.com/research/scenediffuser-city-scale-traffic-simulation-via-a-generative-world-model/