About Argoverse

Argoverse originated at Argo AI, in collaboration with faculty and students from Carnegie Mellon University and Georgia Institute of Technology. Even though Argo AI is gone, the Argoverse team continues to support the datasets with updates to the APIs, new leaderboards for new tasks, and new competitions.

Publications

Argoverse 2: Next Generation Datasets for Self-driving Perception and Forecasting

Published: December 2021, NeurIPS Datasets and Benchmarks

Trust, but Verify: Cross-Modality Fusion for HD Map Change Detection

Published: December 2021, NeurIPS Datasets and Benchmarks

Argoverse: 3D Tracking and Forecasting with Rich Maps

Published: October 2019, arXiv

Argoverse: 3D Tracking and Forecasting with Rich Maps

Published: June 2019, CVPR 2019

Support

Please direct all questions to the Argoverse 1 Github or Argoverse 2 Github.

Terms of Use

These Terms of Use were last updated August 2, 2021

Argo AI, LLC, and its affiliates (“Argo” or “we”) strive to promote future development in the field of self-driving cars. In furtherance of this goal, Argo collects, annotates, anonymizes, and organizes videos, maps, and lidar data collected from its vehicles and provides them in its Argoverse datasets (individually and collectively referred to as "Argoverse") for use in accordance with these Terms of Use. By using or downloading Argoverse, you (“you” or “Licensee”) are agreeing to comply with the terms of use and the applicable licensing terms below and linked herein (collectively, the “Terms of Use”).

License - Data and Documentation.. Argoverse and any associated data or documentation are provided free of charge under the terms of the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International Public License (“CC BY-NC-SA 4.0”). The full text of the license is accessible at https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode.

License - Code and Documentation. Argoverse code and APIs are licensed under the MIT license, the full text of which can be found at https://opensource.org/licenses/MIT.

Using the Argoverse Non-Commercially. We license Argoverse data and documents to you for non-commercial use only. Under the terms of the CC BY-NC-SA 4.0 “non-commercial” means “not primarily intended for or directed towards commercial advantage or monetary compensation.” To assist you in determining whether your contemplated use is non-commercial, we make available the following examples:

Suggestions: If you use Argoverse and identify areas that could benefit from changes, we would like to hear from you. Please submit any comments on the issues page of our GitHub repository. If you submit your changes, you may be required to confirm that your changes are subject to CC BY-NC-SA 4.0.

Attribution. Please follow the attribution guidelines provided in section 3.A. of CC-BY-NC-SA 4.0 license with the copyright notice being “© 2018-2019 Argo AI, LLC” for Argoverse 1.0 and 1.1, and “© 2021 Argo AI, LLC” for Argoverse 2.0. API attribution shall comply with the MIT license.

Privacy. Argo takes steps to protect the privacy of individuals in Argoverse imagery by blurring faces and license plates (i.e. anonymization). Using Argoverse to identify an individual, or combining Argoverse with another dataset to re-identify any individual is prohibited. If you notice that your face or licence plate is still identifiable, or if you have any privacy concerns pertaining to Argoverse, please refer to the “Data Subject Rights” provisions of the Privacy Policy, below.

Marketing. You may not use Argo’s trademark, logo, or name without Argo’s express written permission. Please note that proper attribution in accordance with these Terms of Use is expressly authorized and required.

Compliance. Use of Argoverse is subject to applicable laws and regulations, including, but not limited to, export regulations, and Argo may decline to grant a license, and/or elect to terminate a license with respect to any Licensee, in the event that such Licensee’s actual or proposed use of Argoverse (i) is not permitted under applicable laws or regulations, (ii) fails to comply with these Terms of Use, or (iii) has the potential to negatively impact Argo’s reputation.

Privacy Policy

This Privacy Policy was last updated August 2, 2021

Argo AI, LLC and its affiliates (“Argo AI,” “we, ” “us, ” “our”) have created this Argoverse Privacy Policy in compliance with applicable law and in order to demonstrate our company’s commitment to fairly and transparently handling your personal information or personal data. This Privacy Policy outlines the types of personal information Argo AI may collect from you or that you may provide to us when you use our website, www.argoverse.org (the “Website”) and our practices for collecting, using, maintaining, protecting, and disclosing that information. This Privacy Policy does not apply to information collected by:

• Us offline or through any other means, including on any other website operated by Argo AI; or
• Any third party, including through any application or content that may link to or be accessible from or on the Website

Please read this Privacy Policy carefully to understand our practices regarding your information and how we will treat it. If you do not agree with our policy and practices, you should choose not to use the Website. By accessing or using the Website, you agree to this Privacy Policy and our above Terms of Use.

General Information. This Privacy Policy applies to personal information collected when you use the Website and the Argoverse dataset. Visitors to the Website in the European Economic Area (“EEA”) and United Kingdom should review our EEA and UK Privacy Policy Provisions. Our Website may contain links to other, third-party, websites that we do not operate. If you click on a third-party link and visit another website we do not operate, we encourage you to review the privacy policy of the other website.

Children’s Privacy. Our Website is not intended for individuals under the age of eighteen (18) years old. We do not knowingly maintain or collect personal information relating to any person under the age of 18 through our Website. If you are under the age of 18, you should not use the Website or supply any personal information through the Website. If you are under the age of eighteen (18) years old and have already provided personal information through the Website, please have your parent or guardian contact us at privacy@argo.ai so that we can delete information relating to you.

Collection and Use of Personal Information. We take your privacy and the protection of your personal information seriously. We will only store, process, and disclose your personal information where we have your consent or a legitimate interest and in accordance with applicable law. We may collect, store and use personal information for typical business management, operational, and commercial purposes (including to defend and protect us and others from harm or legal claims and as required by applicable law), and as described more specifically below. In connection with the Website, we may collect and use personal information for the following purposes:

• Identifiers. We receive personal identifiers (such as your name, email address, and telephone number) when you fill out a form or contact us through the Website, and we use them to respond to your requests and to communicate with you for informational and marketing purposes.
• Communications. We receive information you provide to us through your communications with us by email, posts to social media pages, or another method. We process this information to respond to you and in the normal course of our business operations. For example, we may receive the following personal information from you - personal details included in your communications to us about the Argoverse dataset, professional or business-related information (such as your job title and company name), and other message content.
• Data collection, including personal identifiers and electronic activity information via cookies and related technologies. We collect information about your computer or mobile device and your visits to the Website, including identifiers (such as the relevant IP address(es)), information about your device (such as estimated geographical location and browser type), and internet or other electronic activity information (such as interactions with the Website including, browsing history, search history, Website usage information). We may use this information to administer and improve the Website, to improve our services, for security purposes, and to tailor our marketing and other communications to you. In some cases, our third-party partners may process information collected by cookies and related technologies that we permit them to use on the Website. Please see our Cookie Policy for more details. With respect to any social media pages that we may use, please see the privacy policies and any cookie policies of the applicable social media providers as to their automated data collection practices.
• Inferences. We may draw inferences from the categories of information described above. This information may be used for the purposes described as to such categories above.

Retention of Information. We utilize, disclose, or retain your personal information collected in connection with the Website for as long as necessary to fulfill the purposes for which it was collected and for legal or business requirements. We adhere to established retention periods and procedures for maintaining and destroying your personal information.

Protection of Information. We implement security measures designed to secure your personal information from accidental loss and from unauthorized access, use, alteration, and disclosure. We also implement various safeguards including, but not limited to, encryption, access limitations, and authentication to help guard against unauthorized access to personal information in our systems. Please remember, though, that our ability to implement safeguards to protect internet communications is limited.

Sharing of Personal Information. We may share personal information we receive for our business and commercial purposes and as more specifically described below:

• Within our corporate family of parents, subsidiaries, affiliates, and joint ventures in order to efficiently carry out our business to the extent permitted by law.
• To service providers (such as IT service vendors, website hosting facilities, and email distribution services), contractors, and other third-parties we use to support our business. When we disclose personal information for a business purpose, we take reasonable steps to help ensure the recipient uses the personal information for the purpose of performing the contract and protects the personal information.
• In order to comply with an applicable court order, law, or legal process, which includes responding to relevant government or regulatory requests.
• To enforce our Terms of Use above or any other agreements we have with you.
• If we believe disclosure is necessary or appropriate to detect, investigate, prevent, or take action against illegal activities, fraud, or situations regarding the safety or rights of Argo AI, our employees, you, or others.
• In the event of a merger, acquisition, financing due diligence, reorganization, bankruptcy, receivership, sale of company assets, or transition of service to another business unit (whether by private sale, through operation of law, as part of a divestiture plan, or otherwise), to the persons and/or entities participating in the transaction diligence or assuming control of the assets, our advisors, and as otherwise necessary to complete the transaction as permitted by law or contract.
• To any other third-party disclosed to you when you provide the personal information.
• With your consent at your direction.

Generally, Argo AI may share aggregated or anonymized information - information that does not identify an individual or household.

Data Subject Rights. Your Choices and Access to Personal Information. Certain jurisdictions impose specific legal requirements and privacy rights with respect to personal information, and we will comply with restrictions and any requests you submit as required by applicable law. For example, you may have the right to review, correct, and delete personal information we have about you or to consent or withdraw consent to certain uses or sharing of personal information. If you find personal information - including your personal information - in our Argoverse datasets, you can request its removal by contacting us and including: a reference to the frame or video that you would like removed or de-identified and an explanation of why the information in the Argoverse dataset needs to be removed or de-identified. If you would like to request access to such information or that we update, correct, or delete any such information, please send an email to us at: privacy@argo.ai. Note that, in handling any such request, we will ask you to provide us with sufficient information to confirm your identity.

Rights of California Consumers. This section applies to the personal information of California consumers, in keeping with the California Consumer Privacy Act (“CCPA”) and other California law.

The CCPA provides California consumers with specific rights regarding their personal information. They can request:

• additional information about our data collection, use, disclosure, and sales practices in connection with the consumer’s personal information;
• the specific personal information collected about the consumer during the previous 12 months; and
• deletion of the personal information we have about the consumer.

Please note that we do not apply any facial recognition or other personally identifying technology to the images and other data in the Argoverse dataset, and thus, we cannot provide or delete any such information in response to a data subject request.

If you are a California consumer, in order to respond to you, your request must provide sufficient information that would allow us to reasonably verify your identity, or the identity of an authorized representative permitted to make the request. We cannot respond to your request if we cannot verify your identity. To make a request to us regarding your personal information, you may email us at privacy@argo.ai or call our toll-free phone number at 1-888-678-0993. In most cases, you will be required to provide your name and email address so that we can verify your request, and in some cases additional information may be required. The verification steps we take may differ depending on the request. Where possible, we will attempt to match the information that you provide in your request to information we already have on file to verify your identity.

Under the CCPA, California consumers may use an authorized agent to make privacy rights requests. We require any such authorized agent to provide us with proof of the California consumer’s written permission (for example, a power of attorney) that demonstrates authorization to submit a request for the California consumer. An authorized agent must follow the process described above to make a request, and we will also (a) require the authorized agent to verify the agent’s own identity and prove that the agent is registered to do business in California, and (b) confirm the agent’s authority with the California consumer about whom the request was made.

We endeavor to respond to a verified California consumer request within forty-five days of its receipt. We may request additional information in order to sufficiently respond to your request, and if we require more time, we will let you know.

We do not charge a fee to process and respond to your verified consumer request unless it is excessive, repetitive, or unfounded. If there is a fee associated with your request, we will inform you of the decision and the cost estimate before completing your request.

We do not sell personal information, and we have not sold personal information since January 1, 2020, the date the CCPA went into effect. We also do not rent, sell, or share personal information (as defined by California Civil Code § 1793.83) about you that we collect with other people or unaffiliated companies for their direct marketing purposes, unless we have your permission.

We will not discriminate against you for exercising any of your privacy rights, as required by applicable law. As required by applicable law, we will not deny you services, charge you differently, or provide you with a different quality of service.

International Transfers. This Website is hosted in the United States. By using our Website, you understand that your information will be transferred to our data center and servers in the United States and potentially to third parties with whom we may share your personal information as described in this Privacy Policy. The data protection and other laws of the United States and other countries might not be as comprehensive as those in your country of residence. If you are visiting this Website from outside the United States and do not wish to allow the transfer of your personal information to the United States, you should not use this Website and opt-out of the collection of cookies.

Contact. Personal information is generally located at our corporate offices in the United States. Please direct all complaints or other inquiries regarding personal information or this Privacy Policy to our privacy officer as follows:

Email: privacy@argo.ai

Address:
Argo AI, LLC
ATTN: Compliance Department
2545 Railroad Street, Suite 400
Pittsburgh, PA 15222

EEA and UK Privacy Policy Provisions. The following information and rights only apply to personal data associated with individuals who visit the Website from the European Economic Area (“EEA”) and the United Kingdom (“UK”).

Data Controller. For the purposes of data collection in connection with the Website, the data controller is Argo AI, LLC, the address and email address of which may be contacted as set forth in the above “Contact” section. If you have any questions in connection with the Website about how your personal data is processed or would like to exercise rights as a data subject, you may also reach out to our Data Protection Officer at privacy@argo.ai.

Purpose and Basis for Processing. We may collect and use personal data for the following purposes:

In connection with the Website, we may collect and use personal data for the following purposes:

• Identifiers provided by you via our contact forms: We receive personal identifiers (such as your name, email address, and telephone number) when you fill out a form or contact us through the Website, and we use them to respond to your requests and to communicate with you for informational purposes (based on our legitimate interest according to Art. 6 I (f) GDPR). We further process such data for marketing purposes in case you have explicitly provided your consent (according to Art. 6 I (a) GDPR).
• Communications. We receive data you provide to us through your communications with us by email, posts to social media pages, or other methods. We process this data to respond to you and in the normal course of our business operations (based on our legitimate interest according to Art. 6 I (f) GDPR). For example, we may receive the following personal data from you – personal details included in your communications, professional or business-related data (such as your job title and company name), and other message content.
• Data collection, including personal identifiers and electronic activity data via cookies and related technologies. We collect data about your computer or mobile device and your visits to the Website, including identifiers (such as the relevant IP address(es)), data about your device (such as estimated geographical location and browser type), and internet or other electronic activity data (such as interactions with the Website including, browsing history, search history, Website usage data, etc.). We may use this data to administer and improve the Website, to improve our services, and for security purposes (based on our legitimate interest according to Art. 6 I (f) GDPR).
• We may, if we have obtained your consent, use this data to tailor our marketing and other communications to you. In some cases, our third-party partners may process data collected by cookies and related technologies that we permit them to use on the Website. Please see our Cookie Policy below for more details. With respect to any social media pages that we may use, please see the privacy policies and any cookie policies of the applicable social media providers as to their automated data collection practices.

Data Sharing. We may share personal data we receive for the following purposes:

• With our local affiliates to which a request we receive from you relates. In this case, this notice shall also apply to the processing of your data by that entity (based on fulfilling your request according to Art. 6 I (b)).
• To service providers (such as IT service vendors, website hosting facilities, and email distribution services), contractors, and other third-parties we use to support our business. Such vendors are contractually bound to us and operate under data processing agreements (based on our legitimate interest according to Art. 6 I (f) GDPR).
• To courts or authorities or other third parties in order to comply with an applicable court order, law, or legal process, which includes responding to relevant government or regulatory requests (based on our legitimate interest according to Art. 6 I (c) GDPR).
• To courts or authorities or other third parties in order to enforce our Terms of Use or any other agreements we have with you (based on our legitimate interest according to Art. 6 I (f) GDPR).
• To courts or authorities or other third parties if we believe disclosure is necessary or appropriate to detect, investigate, prevent, or take action against illegal activities, fraud, or situations regarding the safety or rights of Argo AI, our employees, you, or others (based on our legitimate interest according to Art. 6 I (f) GDPR).
• In the event of a merger, acquisition, financing due diligence, reorganization, bankruptcy, receivership, to the persons and/or entities participating in the transaction diligence, assuming control of the assets, and our advisors (based on our legitimate interest according to Art. 6 I (f) GDPR).
• With your prior consent (based on Art. 6 I (a) GDPR).

International Transfers of EEA or UK data. Your data will be processed and stored within the EEA and United States – unless otherwise stated in this Privacy Policy. In the case of transfer to third countries which do not provide for an adequate level of data protection, we apply additional safeguards in accordance with applicable data protection regulations to ensure that the recipient adheres to the principles of data protection applicable in the EEA / the UK. You may request further information about the implemented safeguards by reaching out to us under the above contact details.

How Long We Process Personal Data. As a general matter, we will delete or anonymize your personal data when it is no longer necessary to process it for the purpose(s) for which it was collected. When personal data needs to be retained, we apply appropriate security controls to prevent the unauthorized accessing, use, or processing of the data and take appropriate measures to prevent accidental loss, destruction, or damage to the data. We conduct periodic reviews to ensure that personal data is securely deleted consistent with our policies and applicable law.

Note that we may retain the personal data for a prolonged period of time for archiving purposes in the public interest, scientific or historical research purposes, or statistical purposes, including if retention of the personal data is necessary to fulfil legal obligations (including under legislation or regulations, to defend or assert legal claims, for fraud prevention, or for litigation hold purposes).

Your Rights as a EEA or UK Data Subject. As a data subject in the EEA or the UK you have certain rights in relation to our processing of your personal data in accordance with applicable data protection regulations:

• Right to access (Art. 15 GDPR), right to data portability (Art. 20 GDPR), Right to rectification (Art. 16 GDPR), right to erasure (Art. 17 GDPR), right to restriction (Art. 18 GDPR)
• Right to object. In certain circumstances (e.g., where the legal basis for processing is a legitimate interest or if we are performing direct marketing), you may object to continued processing for those purposes. If you do, we will re-evaluate our legitimate business interests and your data protection interests. We will only continue the processing activity if (i) there are compelling legitimate grounds for the processing that override your interests, rights and freedoms, or (ii) the processing is necessary to establish, enforce or defend legal claims.
• Right to lodge a complaint. We prefer to resolve any data protection concerns directly with you. However, you have the right to submit a complaint with a competent supervisory authority, e.g. in the EEA country (or the UK) where you reside, work, or suspect an infringement has occurred.

If you would like to assert your rights as a data subject or have questions concerning our processing activities, please contact us as set forth in the “Data Controller” section above. For additional information from the European Commission concerning data protection and your rights, see: https://ec.europa.eu/info/law/law-topic/data-protection/reform/rights-citizens_en.

Cookie Policy. Our Website uses cookies for technical, analytical, and marketing purposes.

What are cookies and why do we use them? Cookies are files that are downloaded on your computer or mobile device when you visit certain websites. Cookies allow a website, for instance, to identify a user session, recall your preferences (e.g. language), or gather information about your browsing habits. We use essential cookies (e.g., crumb, recent redirect, and test) to facilitate your access to certain features of the Website such as assisting you in navigation on the Website, improve the functionality of the Website, store login details for our Website, perform system administration, and implement security features.

How to restrict cookies. You may be able to adjust the settings in your browser in order to restrict or block cookies that are set by the services or information you access on our Website (or any other website on the internet). Your browser may include information on how to adjust your settings. Some internet browsers include the ability to transmit “Do Not Track” signals. The Website does not process or respond to such “Do Not Track” signals for functional, required, and consented to cookies. Alternatively, you may visit www.allaboutcookies.org to obtain comprehensive general information about cookies and how to adjust the cookie settings on various browsers.

Please be aware that restricting some cookies may impact the functionality of the Website.

Cookies on the Website. Upon your consent, we may use third-party advertising services to serve advertisements on our behalf when you visit our Website and other websites and third-party analytics services to help us understand and improve the usage of our Website and the effectiveness of our marketing efforts. In some situations, we permit the companies providing these services to set and access cookies (and use similar data tools, such as “pixel tags” or “web beacons”) through our Website. These third-party companies also may collect and combine information about your online activities over time, on other devices, and on other websites or online services, if those websites and online services also use the same companies. Information about cookies and similar technology placed by third-party companies on our Website and their related data practices is set forth in the Cookie List below.

Cookie List. A cookie is a small piece of data (text file) that a website – when visited by a user – asks your browser to store on your device in order to remember information about you, such as your language preference or login information. Those cookies are set by us and called first-party cookies. We also use third-party cookies – which are cookies from a domain different than the domain of the website you are visiting – for our advertising and marketing efforts. More specifically, we use cookies and other tracking technologies for the following purposes:

Functional Cookies. These cookies enable the website to provide enhanced functionality and personalisation. They may be set by us or by third party providers whose services we have added to our pages. If you do not allow these cookies then some or all of these services may not function properly.

Performance Cookies. These cookies allow us to count visits and traffic sources so we can measure and improve the performance of our site. They help us to know which pages are the most and least popular and see how visitors move around the site. All information these cookies collect is aggregated and therefore anonymous. If you do not allow these cookies we will not know when you have visited our site, and will not be able to monitor its performance.

Strictly Necessary Cookies. These cookies are necessary for the website to function and cannot be switched off in our systems. They are usually only set in response to actions made by you which amount to a request for services, such as setting your privacy preferences, logging in or filling in forms. You can set your browser to block or alert you about these cookies, but some parts of the site will not then work. These cookies do not store any personally identifiable information.

Targeting Cookies. These cookies may be set through our site by our advertising partners. They may be used by those companies to build a profile of your interests and show you relevant adverts on other sites. They do not store directly personal information, but are based on uniquely identifying your browser and internet device. If you do not allow these cookies, you will experience less targeted advertising.

Like many websites, the Website uses Google Analytics to collect information about how users use the Website. This information is transferred to servers of Google in the US. We have activated the IP Anonymization feature to ensure that your IP address is truncated prior to transfer to the US. Google will process your data in order to provide us with aggregated overviews for assessing the use of our website to help us improve our website and offers. Google will not match the data with other data it may store about you. You may be able to opt-out from being tracked by Google Analytics in the future by downloading and installing ‘Google Analytics Opt-out Browser Add-on’ for your current web browser: https://tools.google.com/dlpage/gaoptout. In addition, you can visit https://policies.google.com/technologies/partner-sites to find out more information about your options with respect to Google Analytics and other Google services.

You may learn more about advertising networks and opt out of receiving personalized advertisements on your browser or device from advertisers who are members of the Network Advertising Initiative or who subscribe to the Digital Advertising Alliance’s Self-Regulatory Principles for Online Behavioral Advertising by visiting the opt-out options of each of those organizations. Links to those websites are here:

• Network Advertising Initiative: http://www.networkadvertising.org/choices/
• Digital Advertising Alliance: http://www.aboutads.info/choices/

Note that, when you opt out of personalized advertising, you may continue to see online advertising on the Website and our ads on other websites and online services but this will not be based on personalized advertising.

Changes to this Privacy Policy and Content on this Page. We make updates to the Privacy Policy on this page, and we will list the date of the last revision as identified at the top of the page. You are responsible for ensuring we have a current and active email address for you. If we make any material change to the content on this page regarding use or disclosure of personal information or data, we will provide advance notice on the Website. Changes will apply to data collected after the change is effective.

User Support. User support inquiries for our Website that are unrelated to requests regarding personal information described in the Data Subject Rights section above are handled through Github Issues. In order to submit a request for support or otherwise contact us you would need to create a GitHub account. Please note that Github will share with us your GitHub account information and that your query will be publicly available on GitHub. The information you provide to Github is also governed by Github's Privacy Policy. We use this information to answer your queries.