├── .gitignore ├── CONTRIBUTING.md ├── LICENSE ├── LOG.md ├── README.md ├── docs ├── docker.md ├── images │ ├── boundaries-illustration.png │ ├── cyclist-2D-labeling-example.png │ ├── cyclist-3D-labeling-example.png │ ├── neighbors-illustration.png │ ├── pedestrian-2D-labeling-example.png │ ├── pedestrian-3D-labeling-example.png │ ├── pem_matching_fig.png │ ├── sign-3D-labeling-example.png │ ├── vehicle-2D-labeling-example.png │ └── vehicle-3D-labeling-example.png ├── labeling_specifications.md ├── lane_neighbors_and_boundaries.md └── pose_estimation_metric.md ├── src ├── .bazelrc ├── .bazelversion ├── WORKSPACE └── waymo_open_dataset │ ├── .dockerignore │ ├── BUILD │ ├── LICENSE │ ├── __init__.py │ ├── bazel │ ├── deeplab2.BUILD │ ├── glog.BUILD │ ├── six.BUILD │ └── zlib.BUILD │ ├── common │ ├── BUILD │ ├── status.cc │ └── status.h │ ├── data_conversion │ ├── BUILD │ ├── scenario_conversion.cc │ ├── scenario_conversion.h │ └── scenario_conversion_test.cc │ ├── dataset.proto │ ├── label.proto │ ├── latency │ ├── BUILD │ ├── README.md │ ├── compare_objects_file_to_submission_main.cc │ ├── examples │ │ ├── 2d_challenge │ │ │ ├── pytorch │ │ │ │ ├── Dockerfile │ │ │ │ └── wod_latency_submission │ │ │ │ │ └── __init__.py │ │ │ └── tensorflow │ │ │ │ ├── Dockerfile │ │ │ │ └── wod_latency_submission │ │ │ │ ├── __init__.py │ │ │ │ └── model.py │ │ ├── pytorch │ │ │ └── from_saved_model │ │ │ │ ├── Dockerfile │ │ │ │ ├── README.md │ │ │ │ └── submission │ │ │ │ └── lib │ │ │ │ └── wod_latency_submission │ │ │ │ └── __init__.py │ │ └── tensorflow │ │ │ ├── from_saved_model │ │ │ ├── Dockerfile │ │ │ └── wod_latency_submission │ │ │ │ ├── __init__.py │ │ │ │ ├── model.py │ │ │ │ └── saved_model │ │ │ │ ├── saved_model.pb │ │ │ │ └── variables │ │ │ │ ├── variables.data-00000-of-00001 │ │ │ │ └── variables.index │ │ │ └── multiframe │ │ │ ├── Dockerfile │ │ │ └── wod_latency_submission │ │ │ ├── __init__.py │ │ │ └── model.py │ ├── make_objects_file_from_latency_results.py │ ├── run_latency_evaluation.sh │ └── wod_latency_evaluator.py │ ├── math │ ├── BUILD │ ├── aabox2d.h │ ├── aabox2d_test.cc │ ├── box2d.cc │ ├── box2d.h │ ├── box2d_test.cc │ ├── exactfloat.cc │ ├── exactfloat.h │ ├── exactfloat_test.cc │ ├── math_util.h │ ├── polygon2d.cc │ ├── polygon2d.h │ ├── polygon2d_test.cc │ ├── segment2d.cc │ ├── segment2d.h │ ├── vec2d.h │ ├── vec2d_test.cc │ ├── vec3d.h │ └── vec3d_test.cc │ ├── metrics │ ├── BUILD │ ├── __init__.py │ ├── breakdown_generator.cc │ ├── breakdown_generator.h │ ├── breakdown_generator_test.cc │ ├── config_util.cc │ ├── config_util.h │ ├── detection_metrics.cc │ ├── detection_metrics.h │ ├── detection_metrics_test.cc │ ├── hungarian.cc │ ├── hungarian.h │ ├── hungarian_test.cc │ ├── iou.cc │ ├── iou.h │ ├── iou_test.cc │ ├── matcher.cc │ ├── matcher.h │ ├── matcher_test.cc │ ├── metrics_utils.cc │ ├── metrics_utils.h │ ├── metrics_utils_test.cc │ ├── mot.cc │ ├── mot.h │ ├── mot_test.cc │ ├── motion_metrics.cc │ ├── motion_metrics.h │ ├── motion_metrics_test.cc │ ├── motion_metrics_utils.cc │ ├── motion_metrics_utils.h │ ├── motion_metrics_utils_test.cc │ ├── ops │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── detection_metrics_ops.cc │ │ ├── detection_metrics_ops_test.py │ │ ├── matcher_ops.cc │ │ ├── metrics_ops.cc │ │ ├── motion_metrics_ops.cc │ │ ├── motion_metrics_ops_test.py │ │ ├── py_metrics_ops.py │ │ ├── tracking_metrics_ops.cc │ │ ├── tracking_metrics_ops_test.py │ │ ├── utils.cc │ │ └── utils.h │ ├── python │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── config_util_py.py │ │ ├── config_util_test.py │ │ ├── detection_metrics.py │ │ ├── detection_metrics_test.py │ │ ├── keypoint_metrics.py │ │ ├── keypoint_metrics_test.py │ │ ├── matcher.py │ │ ├── matcher_test.py │ │ ├── motion_metrics.py │ │ ├── motion_metrics_test.py │ │ ├── rater_feedback_utils.py │ │ ├── rater_feedback_utils_test.py │ │ ├── testdata │ │ │ ├── README.md │ │ │ └── oks_testdata.json │ │ ├── tracking_metrics.py │ │ ├── tracking_metrics_test.py │ │ ├── wod_detection_evaluator.py │ │ └── wod_detection_evaluator_test.py │ ├── segmentation_metrics.cc │ ├── segmentation_metrics.h │ ├── segmentation_metrics_test.cc │ ├── test_utils.cc │ ├── test_utils.h │ ├── tools │ │ ├── BUILD │ │ ├── compute_detection_let_metrics_main.cc │ │ ├── compute_detection_metrics_main.cc │ │ ├── compute_segmentation_metrics_main.cc │ │ ├── compute_tracking_metrics_main.cc │ │ ├── create_prediction_file_example.py │ │ ├── create_segmentation_prediction_file_example.py │ │ ├── create_submission.cc │ │ ├── fake_ground_truths.bin │ │ ├── fake_predictions.bin │ │ ├── fake_segmentation_groundtruths.bin │ │ ├── fake_segmentation_predictions.bin │ │ └── submission.txtpb │ ├── tracking_metrics.cc │ ├── tracking_metrics.h │ └── tracking_metrics_test.cc │ ├── pip_pkg_scripts │ ├── BUILD │ ├── README.md │ ├── auditwheel_wrapper.py │ ├── build.Dockerfile │ ├── build.sh │ ├── install_deeplab2.sh │ └── pypi_description.md │ ├── protos │ ├── BUILD │ ├── __init__.py │ ├── box.proto │ ├── breakdown.proto │ ├── camera_segmentation.proto │ ├── camera_segmentation_metrics.proto │ ├── camera_segmentation_submission.proto │ ├── camera_tokens.proto │ ├── compressed_lidar.proto │ ├── conversion_config.proto │ ├── defs.bzl │ ├── end_to_end_driving_data.proto │ ├── end_to_end_driving_metrics.proto │ ├── end_to_end_driving_submission.proto │ ├── keypoint.proto │ ├── keypoints_metrics.proto │ ├── keypoints_submission.proto │ ├── map.proto │ ├── metrics.proto │ ├── motion_metrics.proto │ ├── motion_submission.proto │ ├── occupancy_flow_metrics.proto │ ├── occupancy_flow_submission.proto │ ├── scenario.proto │ ├── segmentation.proto │ ├── segmentation_metrics.proto │ ├── segmentation_submission.proto │ ├── sim_agents_metrics.proto │ ├── sim_agents_submission.proto │ ├── submission.proto │ └── vector.proto │ ├── requirements.in │ ├── requirements.txt │ ├── utils │ ├── BUILD │ ├── __init__.py │ ├── box_utils.py │ ├── box_utils_test.py │ ├── camera_segmentation_utils.py │ ├── camera_segmentation_utils_test.py │ ├── compression │ │ ├── BUILD │ │ ├── delta_encoder.py │ │ ├── delta_encoder_test.py │ │ ├── pca_codec.py │ │ ├── pca_codec_test.py │ │ ├── tiling.py │ │ └── tiling_test.py │ ├── example_utils.py │ ├── example_utils_test.py │ ├── frame_utils.py │ ├── geometry_utils.py │ ├── geometry_utils_test.py │ ├── keypoint_data.py │ ├── keypoint_data_test.py │ ├── keypoint_draw.py │ ├── keypoint_draw_test.py │ ├── keypoint_test_util.py │ ├── occupancy_flow_data.py │ ├── occupancy_flow_data_test.py │ ├── occupancy_flow_grids.py │ ├── occupancy_flow_grids_test.py │ ├── occupancy_flow_metrics.py │ ├── occupancy_flow_metrics_test.py │ ├── occupancy_flow_renderer.py │ ├── occupancy_flow_renderer_test.py │ ├── occupancy_flow_test_util.py │ ├── occupancy_flow_test_util_test.py │ ├── occupancy_flow_vis.py │ ├── occupancy_flow_vis_test.py │ ├── plot_maps.py │ ├── plot_maps_test.py │ ├── pytype.bzl │ ├── range_image_utils.py │ ├── range_image_utils_test.py │ ├── sim_agents │ │ ├── BUILD │ │ ├── converters.py │ │ ├── converters_test.py │ │ ├── submission_specs.py │ │ ├── submission_specs_test.py │ │ ├── test_utils.py │ │ ├── testdata │ │ │ ├── test_config.textproto │ │ │ ├── test_config_dependent_timesteps.textproto │ │ │ └── test_submission.binproto │ │ └── visualizations.py │ ├── test_utils.py │ ├── testdata │ │ ├── BUILD │ │ ├── motion_data_one_example.tfrecord │ │ ├── motion_data_one_scenario.tfrecord │ │ ├── pvps_data_one_frame.tfrecord │ │ ├── womd_lidar_and_camera_data.tfrecord │ │ ├── womd_point_cloud.png │ │ └── womd_scenario_input.tfrecord │ ├── trajectory_utils.py │ ├── trajectory_utils_test.py │ ├── transform_utils.py │ ├── transform_utils_test.py │ ├── womd_camera_utils.py │ ├── womd_camera_utils_test.py │ ├── womd_lidar_utils.py │ └── womd_lidar_utils_test.py │ ├── v2 │ ├── BUILD │ ├── __init__.py │ ├── column_types.py │ ├── column_types_test.py │ ├── component.py │ ├── component_test.py │ ├── dataframe_utils.py │ ├── dataframe_utils_test.py │ ├── perception │ │ ├── BUILD │ │ ├── base.py │ │ ├── box.py │ │ ├── box_test.py │ │ ├── camera_image.py │ │ ├── camera_image_test.py │ │ ├── compat_v1 │ │ │ ├── BUILD │ │ │ ├── box.py │ │ │ ├── box_test.py │ │ │ ├── camera_image.py │ │ │ ├── camera_image_test.py │ │ │ ├── context.py │ │ │ ├── context_test.py │ │ │ ├── interfaces.py │ │ │ ├── interfaces_test.py │ │ │ ├── keypoints.py │ │ │ ├── keypoints_test.py │ │ │ ├── lidar.py │ │ │ ├── lidar_test.py │ │ │ ├── pose.py │ │ │ ├── pose_test.py │ │ │ ├── segmentation.py │ │ │ ├── segmentation_test.py │ │ │ └── testdata │ │ │ │ ├── README.md │ │ │ │ ├── frame_with_camera_segmentation.tfrecord │ │ │ │ ├── frame_with_lidar_segmentation.tfrecord │ │ │ │ └── two_frame.tfrecord │ │ ├── context.py │ │ ├── context_test.py │ │ ├── keypoints.py │ │ ├── keypoints_test.py │ │ ├── lidar.py │ │ ├── lidar_test.py │ │ ├── object_asset.py │ │ ├── object_asset_test.py │ │ ├── pose.py │ │ ├── pose_test.py │ │ ├── segmentation.py │ │ ├── segmentation_test.py │ │ └── utils │ │ │ ├── BUILD │ │ │ ├── lidar_utils.py │ │ │ ├── lidar_utils_test.py │ │ │ ├── object_asset_codec.py │ │ │ ├── object_asset_codec_test.py │ │ │ ├── object_asset_utils.py │ │ │ └── object_asset_utils_test.py │ ├── testdata │ │ ├── BUILD │ │ ├── README.md │ │ └── dataset │ │ │ ├── camera_hkp │ │ │ └── 10023947602400723454_1120_000_1140_000.parquet │ │ │ └── vehicle_pose │ │ │ └── 10023947602400723454_1120_000_1140_000.parquet │ ├── typing_utils.py │ └── typing_utils_test.py │ └── wdl_limited │ ├── BUILD │ ├── auditwheel_wrapper.py │ ├── camera │ ├── BUILD │ ├── LICENSE │ ├── PATENTS │ ├── __init__.py │ ├── camera_model.cc │ ├── camera_model.h │ ├── camera_model_test.cc │ └── ops │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── camera_model_ops.cc │ │ ├── camera_model_ops_test.py │ │ └── py_camera_model_ops.py │ ├── camera_segmentation │ ├── BUILD │ ├── LICENSE │ ├── PATENTS │ ├── camera_segmentation_metrics.py │ └── camera_segmentation_metrics_test.py │ └── sim_agents_metrics │ ├── BUILD │ ├── LICENSE │ ├── PATENTS │ ├── challenge_2024_config.textproto │ ├── challenge_2025_scenario_gen_config.textproto │ ├── challenge_2025_sim_agents_config.textproto │ ├── estimators.py │ ├── estimators_test.py │ ├── interaction_features.py │ ├── interaction_features_test.py │ ├── legacy_configs │ ├── BUILD │ └── challenge_2023_config.textproto │ ├── map_metric_features.py │ ├── map_metric_features_test.py │ ├── metric_features.py │ ├── metric_features_test.py │ ├── metrics.py │ ├── metrics_test.py │ ├── traffic_light_features.py │ ├── traffic_light_features_test.py │ ├── trajectory_features.py │ └── trajectory_features_test.py └── tutorial ├── 2d_pvps_test_frames.txt ├── 2d_pvps_training_frames.txt ├── 2d_pvps_validation_frames.txt ├── 3d_point_cloud.png ├── 3d_semseg_points.png ├── 3d_semseg_test_set_frames.txt ├── BUILD ├── cpu-jupyter.Dockerfile ├── 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