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+####################
+Lyft (In Upgrading)
+####################
+
+| Website: https://woven.toyota/en/prediction-dataset
+| Download: https://woven-planet.github.io/l5kit/dataset.html
+| Paper: https://proceedings.mlr.press/v155/houston21a/houston21a.pdf
+
+This dataset includes the logs of movement of cars, cyclists, pedestrians,
+and other traffic agents encountered by our automated fleet.
+These logs come from processing raw lidar, camera, and radar data through our team’s perception systems and are ideal
+for training motion prediction models.
+The dataset includes:
+
+- 1000+ hours of traffic agent movement
+- 16k miles of data from 23 vehicles
+- 15k semantic map annotations
+
+.. note::
+    Currently, the old Lyft dataset can be read by ``nuscenes-toolkit`` and thus can share the nuScenes convertor.
+    The new Lyft data is now maintained by Woven Planet and we are working on support the ``L5Kit`` for allowing
+    using new Lyft data.
+
+
+
+Known Issues
+#############
+