[Features] Support waymo challenge solution

[lianqing01]

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Motivation

Support waymo challenge solution with evaluation metrics, transformation and dfm models.

Modification

Please briefly describe what modification is made in this PR.

BC-breaking (Optional)

Does the modification introduce changes that break the back-compatibility of the downstream repos?
If so, please describe how it breaks the compatibility and how the downstream projects should modify their code to keep compatibility with this PR.

Use cases (Optional)

If this PR introduces a new feature, it is better to list some use cases here, and update the documentation.

Checklist

1. Pre-commit or other linting tools are used to fix the potential lint issues.
2. The modification is covered by complete unit tests. If not, please add more unit test to ensure the correctness.
3. If the modification has potential influence on downstream projects, this PR should be tested with downstream projects.
4. The documentation has been modified accordingly, like docstring or example tutorials.

[Tai-Wang]

Please fix comments and wait for the results of regression benchmark

[ZCMax]

resolve conflicts

[Tai-Wang]

Need to rename configs following the new convention (can refer to other configs)