@article{largescaleinteractivemotionforecasting,
  title = {Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Dataset},
  author = {Scott Ettinger and Shuyang Cheng and Benjamin Caine and Chenxi Liu and Hang Zhao and Sabeek Pradhan and Yuning Chai and Ben Sapp and Charles Qi and Yin Zhou and Zoey Yang and Aurelien Chouard and Pei Sun and Jiquan Ngiam and Vijay Vasudevan and Alexander McCauley and Jonathon Shlens and Dragomir Anguelov},
  year = {2021},
  eprint = {2104.10133},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2104.10133v1},
}