diff --git a/research/object_detection/builders/decoder_builder.py b/research/object_detection/builders/decoder_builder.py
index c0895051ac1a5dcdd8bd1528f13a7d5f909b306f..3cf92a83de1e51199d92fccdd365617630636dd1 100644
--- a/research/object_detection/builders/decoder_builder.py
+++ b/research/object_detection/builders/decoder_builder.py
@@ -59,7 +59,8 @@ def build(input_reader_config):
           num_additional_channels=input_reader_config.num_additional_channels,
           num_keypoints=input_reader_config.num_keypoints,
           expand_hierarchy_labels=input_reader_config.expand_labels_hierarchy,
-          load_dense_pose=input_reader_config.load_dense_pose)
+          load_dense_pose=input_reader_config.load_dense_pose,
+          load_track_id=input_reader_config.load_track_id)
       return decoder
     elif input_type == input_reader_pb2.InputType.Value('TF_SEQUENCE_EXAMPLE'):
       decoder = tf_sequence_example_decoder.TfSequenceExampleDecoder(
diff --git a/research/object_detection/builders/model_builder.py b/research/object_detection/builders/model_builder.py
index 1518c52d9bcf926577d6cda2c008a5c8d1d71c85..1cbe989599a3f3c2d19c74853ff14fd6e6ae5b1b 100644
--- a/research/object_detection/builders/model_builder.py
+++ b/research/object_detection/builders/model_builder.py
@@ -918,6 +918,24 @@ def densepose_proto_to_params(densepose_config):
       heatmap_bias_init=densepose_config.heatmap_bias_init)
 
 
+def tracking_proto_to_params(tracking_config):
+  """Converts CenterNet.TrackEstimation proto to parameter namedtuple."""
+  loss = losses_pb2.Loss()
+  # Add dummy localization loss to avoid the loss_builder throwing error.
+  # TODO(yuhuic): update the loss builder to take the localization loss
+  # directly.
+  loss.localization_loss.weighted_l2.CopyFrom(
+      losses_pb2.WeightedL2LocalizationLoss())
+  loss.classification_loss.CopyFrom(tracking_config.classification_loss)
+  classification_loss, _, _, _, _, _, _ = losses_builder.build(loss)
+  return center_net_meta_arch.TrackParams(
+      num_track_ids=tracking_config.num_track_ids,
+      reid_embed_size=tracking_config.reid_embed_size,
+      classification_loss=classification_loss,
+      num_fc_layers=tracking_config.num_fc_layers,
+      task_loss_weight=tracking_config.task_loss_weight)
+
+
 def _build_center_net_model(center_net_config, is_training, add_summaries):
   """Build a CenterNet detection model.
 
@@ -975,6 +993,11 @@ def _build_center_net_model(center_net_config, is_training, add_summaries):
     densepose_params = densepose_proto_to_params(
         center_net_config.densepose_estimation_task)
 
+  track_params = None
+  if center_net_config.HasField('track_estimation_task'):
+    track_params = tracking_proto_to_params(
+        center_net_config.track_estimation_task)
+
   return center_net_meta_arch.CenterNetMetaArch(
       is_training=is_training,
       add_summaries=add_summaries,
@@ -985,7 +1008,8 @@ def _build_center_net_model(center_net_config, is_training, add_summaries):
       object_detection_params=object_detection_params,
       keypoint_params_dict=keypoint_params_dict,
       mask_params=mask_params,
-      densepose_params=densepose_params)
+      densepose_params=densepose_params,
+      track_params=track_params)
 
 
 def _build_center_net_feature_extractor(
diff --git a/research/object_detection/core/model.py b/research/object_detection/core/model.py
index f0ace5d050c3df472b6eb53fa5c277523376573b..634f2ccaf3e9ca4ceedbcac2368ca8096a7ed8f1 100644
--- a/research/object_detection/core/model.py
+++ b/research/object_detection/core/model.py
@@ -102,7 +102,7 @@ class DetectionModel(six.with_metaclass(abc.ABCMeta, _BaseClass)):
     Args:
       field: a string key, options are
         fields.BoxListFields.{boxes,classes,masks,keypoints,
-        keypoint_visibilities, densepose_*}
+        keypoint_visibilities, densepose_*, track_ids}
         fields.InputDataFields.is_annotated.
 
     Returns:
@@ -123,7 +123,7 @@ class DetectionModel(six.with_metaclass(abc.ABCMeta, _BaseClass)):
     Args:
       field: a string key, options are
         fields.BoxListFields.{boxes,classes,masks,keypoints,
-        keypoint_visibilities, densepose_*} or
+        keypoint_visibilities, densepose_*, track_ids} or
         fields.InputDataFields.is_annotated.
 
     Returns:
@@ -303,6 +303,7 @@ class DetectionModel(six.with_metaclass(abc.ABCMeta, _BaseClass)):
       groundtruth_dp_num_points_list=None,
       groundtruth_dp_part_ids_list=None,
       groundtruth_dp_surface_coords_list=None,
+      groundtruth_track_ids_list=None,
       groundtruth_weights_list=None,
       groundtruth_confidences_list=None,
       groundtruth_is_crowd_list=None,
@@ -342,6 +343,8 @@ class DetectionModel(six.with_metaclass(abc.ABCMeta, _BaseClass)):
         shape [num_boxes, max_sampled_points, 4] containing the DensePose
         surface coordinates for each sampled point. Note that there may be
         padding.
+      groundtruth_track_ids_list: a list of 1-D tf.int32 tensors of shape
+        [num_boxes] containing the track IDs of groundtruth objects.
       groundtruth_weights_list: A list of 1-D tf.float32 tensors of shape
         [num_boxes] containing weights for groundtruth boxes.
       groundtruth_confidences_list: A list of 2-D tf.float32 tensors of shape
@@ -391,6 +394,9 @@ class DetectionModel(six.with_metaclass(abc.ABCMeta, _BaseClass)):
       self._groundtruth_lists[
           fields.BoxListFields.densepose_surface_coords] = (
               groundtruth_dp_surface_coords_list)
+    if groundtruth_track_ids_list:
+      self._groundtruth_lists[
+          fields.BoxListFields.track_ids] = groundtruth_track_ids_list
     if groundtruth_is_crowd_list:
       self._groundtruth_lists[
           fields.BoxListFields.is_crowd] = groundtruth_is_crowd_list
diff --git a/research/object_detection/core/standard_fields.py b/research/object_detection/core/standard_fields.py
index ddb4a842db2a70c8d9497b1032249785ae539eef..7dea1fd2d0dcb2860cdeeed5e6e16706d5bb7d95 100644
--- a/research/object_detection/core/standard_fields.py
+++ b/research/object_detection/core/standard_fields.py
@@ -46,6 +46,7 @@ class InputDataFields(object):
       classes for which an image has been labeled.
     groundtruth_boxes: coordinates of the ground truth boxes in the image.
     groundtruth_classes: box-level class labels.
+    groundtruth_track_ids: box-level track ID labels.
     groundtruth_confidences: box-level class confidences. The shape should be
       the same as the shape of groundtruth_classes.
     groundtruth_label_types: box-level label types (e.g. explicit negative).
@@ -97,6 +98,7 @@ class InputDataFields(object):
   groundtruth_labeled_classes = 'groundtruth_labeled_classes'
   groundtruth_boxes = 'groundtruth_boxes'
   groundtruth_classes = 'groundtruth_classes'
+  groundtruth_track_ids = 'groundtruth_track_ids'
   groundtruth_confidences = 'groundtruth_confidences'
   groundtruth_label_types = 'groundtruth_label_types'
   groundtruth_is_crowd = 'groundtruth_is_crowd'
@@ -167,6 +169,7 @@ class DetectionResultFields(object):
   detection_boundaries = 'detection_boundaries'
   detection_keypoints = 'detection_keypoints'
   detection_keypoint_scores = 'detection_keypoint_scores'
+  detection_embeddings = 'detection_embeddings'
   num_detections = 'num_detections'
   raw_detection_boxes = 'raw_detection_boxes'
   raw_detection_scores = 'raw_detection_scores'
@@ -208,6 +211,7 @@ class BoxListFields(object):
   densepose_surface_coords = 'densepose_surface_coords'
   is_crowd = 'is_crowd'
   group_of = 'group_of'
+  track_ids = 'track_ids'
 
 
 class PredictionFields(object):
diff --git a/research/object_detection/core/target_assigner.py b/research/object_detection/core/target_assigner.py
index 37bbeffdc997a970c7adc0a1b6626f1bb5bba40f..5d0a4b4f286c3b27266ea980d791d0fe3c171f5d 100644
--- a/research/object_detection/core/target_assigner.py
+++ b/research/object_detection/core/target_assigner.py
@@ -1782,6 +1782,89 @@ class CenterNetDensePoseTargetAssigner(object):
     return batch_indices, batch_part_ids, batch_surface_coords, batch_weights
 
 
+class CenterNetTrackTargetAssigner(object):
+  """Wrapper to compute targets for tracking task.
+
+  Reference paper: A Simple Baseline for Multi-Object Tracking [1]
+  [1]: https://arxiv.org/abs/2004.01888
+  """
+
+  def __init__(self, stride, num_track_ids):
+    self._stride = stride
+    self._num_track_ids = num_track_ids
+
+  def assign_track_targets(self,
+                           height,
+                           width,
+                           gt_track_ids_list,
+                           gt_boxes_list,
+                           gt_weights_list=None):
+    """Computes the track ID targets.
+
+    Args:
+      height: int, height of input to the model. This is used to determine the
+        height of the output.
+      width: int, width of the input to the model. This is used to determine the
+        width of the output.
+      gt_track_ids_list: A list of 1-D tensors with shape [num_boxes]
+        corresponding to the track ID of each groundtruth detection box.
+      gt_boxes_list: A list of float tensors with shape [num_boxes, 4]
+        representing the groundtruth detection bounding boxes for each sample in
+        the batch. The coordinates are expected in normalized coordinates.
+      gt_weights_list: A list of 1-D tensors with shape [num_boxes]
+        corresponding to the weight of each groundtruth detection box.
+
+    Returns:
+      batch_indices: an integer tensor of shape [batch_size, num_boxes, 3]
+        holding the indices inside the predicted tensor which should be
+        penalized. The first column indicates the index along the batch
+        dimension and the second and third columns indicate the index
+        along the y and x dimensions respectively.
+      batch_weights: a float tensor of shape [batch_size, num_boxes] indicating
+        the weight of each prediction.
+      track_id_targets: An int32 tensor of size [batch_size, num_boxes,
+        num_track_ids] containing the one-hot track ID vector of each
+        groundtruth detection box.
+    """
+    track_id_targets = tf.one_hot(
+        gt_track_ids_list, depth=self._num_track_ids, axis=-1)
+
+    if gt_weights_list is None:
+      gt_weights_list = [None] * len(gt_boxes_list)
+
+    batch_indices = []
+    batch_weights = []
+
+    for i, (boxes, weights) in enumerate(zip(gt_boxes_list, gt_weights_list)):
+      boxes = box_list.BoxList(boxes)
+      boxes = box_list_ops.to_absolute_coordinates(boxes,
+                                                   height // self._stride,
+                                                   width // self._stride)
+      # Get the box center coordinates. Each returned tensors have the shape of
+      # [num_boxes]
+      (y_center, x_center, _, _) = boxes.get_center_coordinates_and_sizes()
+      num_boxes = tf.shape(x_center)
+
+      # Compute the indices of the box centers. Shape:
+      #   indices: [num_boxes, 2]
+      (_, indices) = ta_utils.compute_floor_offsets_with_indices(
+          y_source=y_center, x_source=x_center)
+
+      # Assign ones if weights are not provided.
+      if weights is None:
+        weights = tf.ones(num_boxes, dtype=tf.float32)
+
+      # Shape of [num_boxes, 1] integer tensor filled with current batch index.
+      batch_index = i * tf.ones_like(indices[:, 0:1], dtype=tf.int32)
+      batch_indices.append(tf.concat([batch_index, indices], axis=1))
+      batch_weights.append(weights)
+
+    batch_indices = tf.stack(batch_indices, axis=0)
+    batch_weights = tf.stack(batch_weights, axis=0)
+
+    return batch_indices, batch_weights, track_id_targets
+
+
 def filter_mask_overlap_min_area(masks):
   """If a pixel belongs to 2 instances, remove it from the larger instance."""
 
diff --git a/research/object_detection/core/target_assigner_test.py b/research/object_detection/core/target_assigner_test.py
index 8bdc4f2e443e59bcc644b8041df32c1cc0d72f02..1dba14056930f378377253f8a1657c4d01768e82 100644
--- a/research/object_detection/core/target_assigner_test.py
+++ b/research/object_detection/core/target_assigner_test.py
@@ -2015,6 +2015,106 @@ class CenterNetDensePoseTargetAssignerTest(test_case.TestCase):
     self.assertAllClose(expected_batch_weights, batch_weights)
 
 
+class CenterNetTrackTargetAssignerTest(test_case.TestCase):
+
+  def setUp(self):
+    super(CenterNetTrackTargetAssignerTest, self).setUp()
+    self._box_center = [0.0, 0.0, 1.0, 1.0]
+    self._box_center_small = [0.25, 0.25, 0.75, 0.75]
+    self._box_lower_left = [0.5, 0.0, 1.0, 0.5]
+    self._box_center_offset = [0.1, 0.05, 1.0, 1.0]
+    self._box_odd_coordinates = [0.1625, 0.2125, 0.5625, 0.9625]
+
+  def test_assign_track_targets(self):
+    """Test the assign_track_targets function."""
+    def graph_fn():
+      box_batch = [
+          tf.constant([self._box_center, self._box_lower_left]),
+          tf.constant([self._box_lower_left, self._box_center_small]),
+          tf.constant([self._box_center_small, self._box_odd_coordinates]),
+      ]
+      track_id_batch = [
+          tf.constant([0, 1]),
+          tf.constant([1, 0]),
+          tf.constant([0, 2]),
+      ]
+
+      assigner = targetassigner.CenterNetTrackTargetAssigner(
+          stride=4, num_track_ids=3)
+
+      (batch_indices, batch_weights,
+       track_targets) = assigner.assign_track_targets(
+           height=80,
+           width=80,
+           gt_track_ids_list=track_id_batch,
+           gt_boxes_list=box_batch)
+      return batch_indices, batch_weights, track_targets
+
+    indices, weights, track_ids = self.execute(graph_fn, [])
+
+    self.assertEqual(indices.shape, (3, 2, 3))
+    self.assertEqual(track_ids.shape, (3, 2, 3))
+    self.assertEqual(weights.shape, (3, 2))
+
+    np.testing.assert_array_equal(indices,
+                                  [[[0, 10, 10], [0, 15, 5]],
+                                   [[1, 15, 5], [1, 10, 10]],
+                                   [[2, 10, 10], [2, 7, 11]]])
+    np.testing.assert_array_equal(track_ids,
+                                  [[[1, 0, 0], [0, 1, 0]],
+                                   [[0, 1, 0], [1, 0, 0]],
+                                   [[1, 0, 0], [0, 0, 1]]])
+    np.testing.assert_array_equal(weights, [[1, 1], [1, 1], [1, 1]])
+
+  def test_assign_track_targets_weights(self):
+    """Test the assign_track_targets function with box weights."""
+    def graph_fn():
+      box_batch = [
+          tf.constant([self._box_center, self._box_lower_left]),
+          tf.constant([self._box_lower_left, self._box_center_small]),
+          tf.constant([self._box_center_small, self._box_odd_coordinates]),
+      ]
+      track_id_batch = [
+          tf.constant([0, 1]),
+          tf.constant([1, 0]),
+          tf.constant([0, 2]),
+      ]
+      weights_batch = [
+          tf.constant([0.0, 1.0]),
+          tf.constant([1.0, 1.0]),
+          tf.constant([0.0, 0.0])
+      ]
+
+      assigner = targetassigner.CenterNetTrackTargetAssigner(
+          stride=4, num_track_ids=3)
+
+      (batch_indices, batch_weights,
+       track_targets) = assigner.assign_track_targets(
+           height=80,
+           width=80,
+           gt_track_ids_list=track_id_batch,
+           gt_boxes_list=box_batch,
+           gt_weights_list=weights_batch)
+      return batch_indices, batch_weights, track_targets
+
+    indices, weights, track_ids = self.execute(graph_fn, [])
+
+    self.assertEqual(indices.shape, (3, 2, 3))
+    self.assertEqual(track_ids.shape, (3, 2, 3))
+    self.assertEqual(weights.shape, (3, 2))
+
+    np.testing.assert_array_equal(indices,
+                                  [[[0, 10, 10], [0, 15, 5]],
+                                   [[1, 15, 5], [1, 10, 10]],
+                                   [[2, 10, 10], [2, 7, 11]]])
+    np.testing.assert_array_equal(track_ids,
+                                  [[[1, 0, 0], [0, 1, 0]],
+                                   [[0, 1, 0], [1, 0, 0]],
+                                   [[1, 0, 0], [0, 0, 1]]])
+    np.testing.assert_array_equal(weights, [[0, 1], [1, 1], [0, 0]])
+    # TODO(xwwang): Add a test for the case when no objects are detected.
+
+
 class CornerOffsetTargetAssignerTest(test_case.TestCase):
 
   def test_filter_overlap_min_area_empty(self):
diff --git a/research/object_detection/data_decoders/tf_example_decoder.py b/research/object_detection/data_decoders/tf_example_decoder.py
index adf4bd6898ab590566542e906511fcc13b62696e..dd163a55b01e33ca25cfd4daa0376377a235653c 100644
--- a/research/object_detection/data_decoders/tf_example_decoder.py
+++ b/research/object_detection/data_decoders/tf_example_decoder.py
@@ -138,7 +138,8 @@ class TfExampleDecoder(data_decoder.DataDecoder):
                load_multiclass_scores=False,
                load_context_features=False,
                expand_hierarchy_labels=False,
-               load_dense_pose=False):
+               load_dense_pose=False,
+               load_track_id=False):
     """Constructor sets keys_to_features and items_to_handlers.
 
     Args:
@@ -170,6 +171,7 @@ class TfExampleDecoder(data_decoder.DataDecoder):
         classes, the labels are extended to ancestor. For negative classes,
         the labels are expanded to descendants.
       load_dense_pose: Whether to load DensePose annotations.
+      load_track_id: Whether to load tracking annotations.
 
     Raises:
       ValueError: If `instance_mask_type` option is not one of
@@ -367,6 +369,12 @@ class TfExampleDecoder(data_decoder.DataDecoder):
                    'image/object/densepose/u', 'image/object/densepose/v',
                    'image/object/densepose/num'],
                   self._dense_pose_surface_coordinates))
+    if load_track_id:
+      self.keys_to_features['image/object/track/label'] = (
+          tf.VarLenFeature(tf.int64))
+      self.items_to_handlers[
+          fields.InputDataFields.groundtruth_track_ids] = (
+              slim_example_decoder.Tensor('image/object/track/label'))
 
     if label_map_proto_file:
       # If the label_map_proto is provided, try to use it in conjunction with
@@ -552,6 +560,11 @@ class TfExampleDecoder(data_decoder.DataDecoder):
           tensor_dict[fields.InputDataFields.groundtruth_dp_part_ids],
           dtype=tf.int32)
 
+    if fields.InputDataFields.groundtruth_track_ids in tensor_dict:
+      tensor_dict[fields.InputDataFields.groundtruth_track_ids] = tf.cast(
+          tensor_dict[fields.InputDataFields.groundtruth_track_ids],
+          dtype=tf.int32)
+
     return tensor_dict
 
   def _reshape_keypoints(self, keys_to_tensors):
diff --git a/research/object_detection/data_decoders/tf_example_decoder_test.py b/research/object_detection/data_decoders/tf_example_decoder_test.py
index 81ed9258e650d7534bd9e3ae76aa574bc2a06b61..6d63d41c89044119f293912ab3bcfb2b0ab0af86 100644
--- a/research/object_detection/data_decoders/tf_example_decoder_test.py
+++ b/research/object_detection/data_decoders/tf_example_decoder_test.py
@@ -1430,6 +1430,48 @@ class TfExampleDecoderTest(test_case.TestCase):
     self.assertAllEqual(dp_part_ids, expected_dp_part_ids)
     self.assertAllClose(dp_surface_coords, expected_dp_surface_coords)
 
+  def testDecodeTrack(self):
+    image_tensor = np.random.randint(256, size=(4, 5, 3)).astype(np.uint8)
+    encoded_jpeg, _ = self._create_encoded_and_decoded_data(
+        image_tensor, 'jpeg')
+    bbox_ymins = [0.0, 4.0, 2.0]
+    bbox_xmins = [1.0, 5.0, 8.0]
+    bbox_ymaxs = [2.0, 6.0, 1.0]
+    bbox_xmaxs = [3.0, 7.0, 3.3]
+    track_labels = [0, 1, 2]
+
+    def graph_fn():
+      example = tf.train.Example(
+          features=tf.train.Features(
+              feature={
+                  'image/encoded':
+                      dataset_util.bytes_feature(encoded_jpeg),
+                  'image/format':
+                      dataset_util.bytes_feature(six.b('jpeg')),
+                  'image/object/bbox/ymin':
+                      dataset_util.float_list_feature(bbox_ymins),
+                  'image/object/bbox/xmin':
+                      dataset_util.float_list_feature(bbox_xmins),
+                  'image/object/bbox/ymax':
+                      dataset_util.float_list_feature(bbox_ymaxs),
+                  'image/object/bbox/xmax':
+                      dataset_util.float_list_feature(bbox_xmaxs),
+                  'image/object/track/label':
+                      dataset_util.int64_list_feature(track_labels),
+              })).SerializeToString()
+
+      example_decoder = tf_example_decoder.TfExampleDecoder(
+          load_track_id=True)
+      output = example_decoder.decode(tf.convert_to_tensor(example))
+      track_ids = output[fields.InputDataFields.groundtruth_track_ids]
+      return track_ids
+
+    track_ids = self.execute_cpu(graph_fn, [])
+
+    expected_track_labels = [0, 1, 2]
+
+    self.assertAllEqual(track_ids, expected_track_labels)
+
 
 if __name__ == '__main__':
   tf.test.main()
diff --git a/research/object_detection/inputs.py b/research/object_detection/inputs.py
index f0b74a3be5ab2dac1143d1c428a4b7e626c78b2e..699ce7e2d2b11a9c5b929845b78af01afa182a83 100644
--- a/research/object_detection/inputs.py
+++ b/research/object_detection/inputs.py
@@ -499,6 +499,9 @@ def pad_input_data_to_static_shapes(tensor_dict,
     padding_shapes[
         fields.InputDataFields.groundtruth_dp_surface_coords] = [
             max_num_boxes, max_dp_points, 4]
+  if fields.InputDataFields.groundtruth_track_ids in tensor_dict:
+    padding_shapes[
+        fields.InputDataFields.groundtruth_track_ids] = [max_num_boxes]
 
   # Prepare for ContextRCNN related fields.
   if fields.InputDataFields.context_features in tensor_dict:
@@ -602,7 +605,8 @@ def _get_labels_dict(input_dict):
       fields.InputDataFields.groundtruth_keypoint_weights,
       fields.InputDataFields.groundtruth_dp_num_points,
       fields.InputDataFields.groundtruth_dp_part_ids,
-      fields.InputDataFields.groundtruth_dp_surface_coords
+      fields.InputDataFields.groundtruth_dp_surface_coords,
+      fields.InputDataFields.groundtruth_track_ids
   ]
 
   for key in optional_label_keys:
@@ -762,6 +766,8 @@ def train_input(train_config, train_input_config,
         DensePose surface coordinates. The format is (y, x, v, u), where (y, x)
         are normalized image coordinates and (v, u) are normalized surface part
         coordinates.
+      labels[fields.InputDataFields.groundtruth_track_ids] is a
+        [batch_size, num_boxes] int32 tensor with the track ID for each object.
 
   Raises:
     TypeError: if the `train_config`, `train_input_config` or `model_config`
@@ -914,6 +920,8 @@ def eval_input(eval_config, eval_input_config, model_config,
         DensePose surface coordinates. The format is (y, x, v, u), where (y, x)
         are normalized image coordinates and (v, u) are normalized surface part
         coordinates.
+      labels[fields.InputDataFields.groundtruth_track_ids] is a
+        [batch_size, num_boxes] int32 tensor with the track ID for each object.
 
   Raises:
     TypeError: if the `eval_config`, `eval_input_config` or `model_config`
diff --git a/research/object_detection/inputs_test.py b/research/object_detection/inputs_test.py
index 2cd5fe0e4e39a93564c28dd145a2497253186072..9a0430a529c9f888f3444670ad1a0b89bc85e22d 100644
--- a/research/object_detection/inputs_test.py
+++ b/research/object_detection/inputs_test.py
@@ -1569,6 +1569,22 @@ class PadInputDataToStaticShapesFnTest(test_case.TestCase):
         padded_tensor_dict[fields.InputDataFields.groundtruth_dp_surface_coords]
         .shape.as_list(), [3, 200, 4])
 
+  def test_pad_input_data_to_static_shapes_for_trackid(self):
+    input_tensor_dict = {
+        fields.InputDataFields.groundtruth_track_ids:
+            tf.constant([0, 1], dtype=tf.int32),
+    }
+
+    padded_tensor_dict = inputs.pad_input_data_to_static_shapes(
+        tensor_dict=input_tensor_dict,
+        max_num_boxes=3,
+        num_classes=1,
+        spatial_image_shape=[128, 128])
+
+    self.assertAllEqual(
+        padded_tensor_dict[fields.InputDataFields.groundtruth_track_ids]
+        .shape.as_list(), [3])
+
   def test_context_features(self):
     context_memory_size = 8
     context_feature_length = 10
diff --git a/research/object_detection/meta_architectures/center_net_meta_arch.py b/research/object_detection/meta_architectures/center_net_meta_arch.py
index 3d1bb3b514be38323b7e27b703ff7d179583aa48..536cd11f593178939531c17159aec3c9fef10621 100644
--- a/research/object_detection/meta_architectures/center_net_meta_arch.py
+++ b/research/object_detection/meta_architectures/center_net_meta_arch.py
@@ -1164,6 +1164,33 @@ def gather_surface_coords_for_parts(surface_coords_cropped,
   return tf.reshape(vu_coords_flattened, [max_detections, height, width, 2])
 
 
+def predicted_embeddings_at_object_centers(embedding_predictions,
+                                           y_indices, x_indices):
+  """Returns the predicted embeddings at specified object centers.
+
+  Args:
+    embedding_predictions: A float tensor of shape [batch_size, height, width,
+      reid_embed_size] holding predicted embeddings.
+    y_indices: A [batch, num_instances] int tensor holding y indices for object
+      centers. These indices correspond to locations in the output feature map.
+    x_indices: A [batch, num_instances] int tensor holding x indices for object
+      centers. These indices correspond to locations in the output feature map.
+
+  Returns:
+    A float tensor of shape [batch_size, num_objects, reid_embed_size] where
+    predicted embeddings are gathered at the provided locations.
+  """
+  batch_size, _, width, _ = _get_shape(embedding_predictions, 4)
+  flattened_indices = flattened_indices_from_row_col_indices(
+      y_indices, x_indices, width)
+  _, num_instances = _get_shape(flattened_indices, 2)
+  embeddings_flat = _flatten_spatial_dimensions(embedding_predictions)
+  embeddings = tf.gather(embeddings_flat, flattened_indices, batch_dims=1)
+  embeddings = tf.reshape(embeddings, [batch_size, num_instances, -1])
+
+  return embeddings
+
+
 class ObjectDetectionParams(
     collections.namedtuple('ObjectDetectionParams', [
         'localization_loss', 'scale_loss_weight', 'offset_loss_weight',
@@ -1464,6 +1491,42 @@ class DensePoseParams(
                               task_loss_weight, upsample_to_input_res,
                               upsample_method, heatmap_bias_init)
 
+
+class TrackParams(
+    collections.namedtuple('TrackParams', [
+        'num_track_ids', 'reid_embed_size', 'num_fc_layers',
+        'classification_loss', 'task_loss_weight'
+    ])):
+  """Namedtuple to store tracking prediction related parameters."""
+
+  __slots__ = ()
+
+  def __new__(cls,
+              num_track_ids,
+              reid_embed_size,
+              num_fc_layers,
+              classification_loss,
+              task_loss_weight=1.0):
+    """Constructor with default values for TrackParams.
+
+    Args:
+      num_track_ids: int. The maximum track ID in the dataset. Used for ReID
+        embedding classification task.
+      reid_embed_size: int. The embedding size for ReID task.
+      num_fc_layers: int. The number of (fully-connected, batch-norm, relu)
+        layers for track ID classification head.
+      classification_loss: an object_detection.core.losses.Loss object to
+        compute the loss for the ReID embedding in CenterNet.
+      task_loss_weight: float, the loss weight for the tracking task.
+
+    Returns:
+      An initialized TrackParams namedtuple.
+    """
+    return super(TrackParams,
+                 cls).__new__(cls, num_track_ids, reid_embed_size,
+                              num_fc_layers, classification_loss,
+                              task_loss_weight)
+
 # The following constants are used to generate the keys of the
 # (prediction, loss, target assigner,...) dictionaries used in CenterNetMetaArch
 # class.
@@ -1480,6 +1543,8 @@ DENSEPOSE_TASK = 'densepose_task'
 DENSEPOSE_HEATMAP = 'densepose/heatmap'
 DENSEPOSE_REGRESSION = 'densepose/regression'
 LOSS_KEY_PREFIX = 'Loss'
+TRACK_TASK = 'track_task'
+TRACK_REID = 'track/reid'
 
 
 def get_keypoint_name(task_name, head_name):
@@ -1523,7 +1588,8 @@ class CenterNetMetaArch(model.DetectionModel):
                object_detection_params=None,
                keypoint_params_dict=None,
                mask_params=None,
-               densepose_params=None):
+               densepose_params=None,
+               track_params=None):
     """Initializes a CenterNet model.
 
     Args:
@@ -1555,6 +1621,9 @@ class CenterNetMetaArch(model.DetectionModel):
         hyper-parameters for DensePose prediction. Please see the class
         definition for more details. Note that if this is provided, it is
         expected that `mask_params` is also provided.
+      track_params: A TrackParams namedtuple. This object
+        holds the hyper-parameters for tracking. Please see the class
+        definition for more details.
     """
     assert object_detection_params or keypoint_params_dict
     # Shorten the name for convenience and better formatting.
@@ -1574,6 +1643,7 @@ class CenterNetMetaArch(model.DetectionModel):
       raise ValueError('To run DensePose prediction, `mask_params` must also '
                        'be supplied.')
     self._densepose_params = densepose_params
+    self._track_params = track_params
 
     # Construct the prediction head nets.
     self._prediction_head_dict = self._construct_prediction_heads(
@@ -1613,7 +1683,8 @@ class CenterNetMetaArch(model.DetectionModel):
 
     Returns:
       A dictionary of keras modules generated by calling make_prediction_net
-      function.
+      function. It will also create and set a private member of the class when
+      learning the tracking task.
     """
     prediction_heads = {}
     prediction_heads[OBJECT_CENTER] = [
@@ -1666,6 +1737,26 @@ class CenterNetMetaArch(model.DetectionModel):
           make_prediction_net(2 * self._densepose_params.num_parts)
           for _ in range(num_feature_outputs)
       ]
+    if self._track_params is not None:
+      prediction_heads[TRACK_REID] = [
+          make_prediction_net(self._track_params.reid_embed_size)
+          for _ in range(num_feature_outputs)]
+
+      # Creates a classification network to train object embeddings by learning
+      # a projection from embedding space to object track ID space.
+      self.track_reid_classification_net = tf.keras.Sequential()
+      for _ in range(self._track_params.num_fc_layers - 1):
+        self.track_reid_classification_net.add(
+            tf.keras.layers.Dense(self._track_params.reid_embed_size,
+                                  input_shape=(
+                                      self._track_params.reid_embed_size,)))
+        self.track_reid_classification_net.add(
+            tf.keras.layers.BatchNormalization())
+        self.track_reid_classification_net.add(tf.keras.layers.ReLU())
+      self.track_reid_classification_net.add(
+          tf.keras.layers.Dense(self._track_params.num_track_ids,
+                                input_shape=(
+                                    self._track_params.reid_embed_size,)))
     return prediction_heads
 
   def _initialize_target_assigners(self, stride, min_box_overlap_iou):
@@ -1704,6 +1795,10 @@ class CenterNetMetaArch(model.DetectionModel):
       dp_stride = 1 if self._densepose_params.upsample_to_input_res else stride
       target_assigners[DENSEPOSE_TASK] = (
           cn_assigner.CenterNetDensePoseTargetAssigner(dp_stride))
+    if self._track_params is not None:
+      target_assigners[TRACK_TASK] = (
+          cn_assigner.CenterNetTrackTargetAssigner(
+              stride, self._track_params.num_track_ids))
 
     return target_assigners
 
@@ -2222,6 +2317,76 @@ class CenterNetMetaArch(model.DetectionModel):
         num_predictions * num_valid_points)
     return part_prediction_loss, surface_coord_loss
 
+  def _compute_track_losses(self, input_height, input_width, prediction_dict):
+    """Computes all the losses associated with tracking.
+
+    Args:
+      input_height: An integer scalar tensor representing input image height.
+      input_width: An integer scalar tensor representing input image width.
+      prediction_dict: The dictionary returned from the predict() method.
+
+    Returns:
+      A dictionary with tracking losses.
+    """
+    object_reid_predictions = prediction_dict[TRACK_REID]
+    embedding_loss = self._compute_track_embedding_loss(
+        input_height=input_height,
+        input_width=input_width,
+        object_reid_predictions=object_reid_predictions)
+    losses = {
+        TRACK_REID: embedding_loss
+    }
+    return losses
+
+  def _compute_track_embedding_loss(self, input_height, input_width,
+                                    object_reid_predictions):
+    """Computes the object ReID loss.
+
+    The embedding is trained as a classification task where the target is the
+    ID of each track among all tracks in the whole dataset.
+
+    Args:
+      input_height: An integer scalar tensor representing input image height.
+      input_width: An integer scalar tensor representing input image width.
+      object_reid_predictions: A list of float tensors of shape [batch_size,
+        out_height, out_width, reid_embed_size] representing the object
+        embedding feature maps.
+
+    Returns:
+      A float scalar tensor representing the object ReID loss per instance.
+    """
+    gt_track_ids_list = self.groundtruth_lists(fields.BoxListFields.track_ids)
+    gt_boxes_list = self.groundtruth_lists(fields.BoxListFields.boxes)
+    gt_weights_list = self.groundtruth_lists(fields.BoxListFields.weights)
+    num_boxes = _to_float32(get_num_instances_from_weights(gt_weights_list))
+
+    # Convert the groundtruth to targets.
+    assigner = self._target_assigner_dict[TRACK_TASK]
+    batch_indices, batch_weights, track_targets = assigner.assign_track_targets(
+        height=input_height,
+        width=input_width,
+        gt_track_ids_list=gt_track_ids_list,
+        gt_boxes_list=gt_boxes_list,
+        gt_weights_list=gt_weights_list)
+    batch_weights = tf.expand_dims(batch_weights, -1)
+
+    loss = 0.0
+    object_reid_loss = self._track_params.classification_loss
+    # Loop through each feature output head.
+    for pred in object_reid_predictions:
+      embedding_pred = cn_assigner.get_batch_predictions_from_indices(
+          pred, batch_indices)
+
+      reid_classification = self.track_reid_classification_net(embedding_pred)
+
+      loss += object_reid_loss(
+          reid_classification, track_targets, weights=batch_weights)
+
+    loss_per_instance = tf.reduce_sum(loss) / (
+        float(len(object_reid_predictions)) * num_boxes)
+
+    return loss_per_instance
+
   def preprocess(self, inputs):
     outputs = shape_utils.resize_images_and_return_shapes(
         inputs, self._image_resizer_fn)
@@ -2316,7 +2481,8 @@ class CenterNetMetaArch(model.DetectionModel):
         'Loss/$TASK_NAME/keypoint/regression', (optional)
         'Loss/segmentation/heatmap', (optional)
         'Loss/densepose/heatmap', (optional)
-        'Loss/densepose/regression]' (optional)
+        'Loss/densepose/regression', (optional)
+        'Loss/track/reid'] (optional)
         scalar tensors corresponding to the losses for different tasks. Note the
         $TASK_NAME is provided by the KeypointEstimation namedtuple used to
         differentiate between different keypoint tasks.
@@ -2384,6 +2550,16 @@ class CenterNetMetaArch(model.DetectionModel):
             densepose_losses[key] * self._densepose_params.task_loss_weight)
       losses.update(densepose_losses)
 
+    if self._track_params is not None:
+      track_losses = self._compute_track_losses(
+          input_height=input_height,
+          input_width=input_width,
+          prediction_dict=prediction_dict)
+      for key in track_losses:
+        track_losses[key] = (
+            track_losses[key] * self._track_params.task_loss_weight)
+      losses.update(track_losses)
+
     # Prepend the LOSS_KEY_PREFIX to the keys in the dictionary such that the
     # losses will be grouped together in Tensorboard.
     return dict([('%s/%s' % (LOSS_KEY_PREFIX, key), val)
@@ -2426,6 +2602,8 @@ class CenterNetMetaArch(model.DetectionModel):
         detection_surface_coords: (Optional) A float32 tensor of shape [batch,
           max_detection, mask_height, mask_width, 2] with DensePose surface
           coordinates, in (v, u) format.
+        detection_embeddings: (Optional) A float tensor of shape [batch,
+          max_detections, reid_embed_size] containing object embeddings.
     """
     object_center_prob = tf.nn.sigmoid(prediction_dict[OBJECT_CENTER][-1])
     # Get x, y and channel indices corresponding to the top indices in the class
@@ -2487,8 +2665,39 @@ class CenterNetMetaArch(model.DetectionModel):
             fields.DetectionResultFields.detection_surface_coords] = (
                 surface_coords)
 
+    if self._track_params:
+      embeddings = self._postprocess_embeddings(prediction_dict,
+                                                y_indices, x_indices)
+      postprocess_dict.update({
+          fields.DetectionResultFields.detection_embeddings: embeddings
+      })
+
     return postprocess_dict
 
+  def _postprocess_embeddings(self, prediction_dict, y_indices, x_indices):
+    """Performs postprocessing on embedding predictions.
+
+    Args:
+      prediction_dict: a dictionary holding predicted tensors, returned from the
+        predict() method. This dictionary should contain embedding prediction
+        feature maps for tracking task.
+      y_indices: A [batch_size, max_detections] int tensor with y indices for
+        all object centers.
+      x_indices: A [batch_size, max_detections] int tensor with x indices for
+        all object centers.
+
+    Returns:
+      embeddings: A [batch_size, max_detection, reid_embed_size] float32
+        tensor with L2 normalized embeddings extracted from detection box
+        centers.
+    """
+    embedding_predictions = prediction_dict[TRACK_REID][-1]
+    embeddings = predicted_embeddings_at_object_centers(
+        embedding_predictions, y_indices, x_indices)
+    embeddings, _ = tf.linalg.normalize(embeddings, axis=-1)
+
+    return embeddings
+
   def _postprocess_keypoints(self, prediction_dict, classes, y_indices,
                              x_indices, boxes, num_detections):
     """Performs postprocessing on keypoint predictions.
diff --git a/research/object_detection/meta_architectures/center_net_meta_arch_tf2_test.py b/research/object_detection/meta_architectures/center_net_meta_arch_tf2_test.py
index 6cce07b80de6e6cc33a7dec98a34c7fda0cba74a..f906f22f1c230532758c41f83f6477fcc9a02907 100644
--- a/research/object_detection/meta_architectures/center_net_meta_arch_tf2_test.py
+++ b/research/object_detection/meta_architectures/center_net_meta_arch_tf2_test.py
@@ -1046,6 +1046,41 @@ class CenterNetMetaArchHelpersTest(test_case.TestCase, parameterized.TestCase):
       np.testing.assert_allclose(kpt_scores_np[:, i, :],
                                  kpt_scores_padded[:, inst_ind, :])
 
+  def test_predicted_embeddings_at_object_centers(self):
+    batch_size = 2
+    embedding_size = 5
+    num_instances = 6
+    predicted_embedding_feature_map_np = np.random.randn(
+        batch_size, 10, 10, embedding_size).astype(np.float32)
+    y_indices = np.random.choice(10, (batch_size, num_instances))
+    x_indices = np.random.choice(10, (batch_size, num_instances))
+
+    def graph_fn():
+      predicted_embedding_feature_map = tf.constant(
+          predicted_embedding_feature_map_np, dtype=tf.float32)
+
+      gathered_predicted_embeddings = (
+          cnma.predicted_embeddings_at_object_centers(
+              predicted_embedding_feature_map,
+              tf.constant(y_indices, dtype=tf.int32),
+              tf.constant(x_indices, dtype=tf.int32)))
+      return gathered_predicted_embeddings
+
+    gathered_predicted_embeddings = self.execute(graph_fn, [])
+
+    expected_gathered_embeddings_0 = predicted_embedding_feature_map_np[
+        0, y_indices[0], x_indices[0], :]
+    expected_gathered_embeddings_1 = predicted_embedding_feature_map_np[
+        1, y_indices[1], x_indices[1], :]
+    expected_gathered_embeddings = np.stack([
+        expected_gathered_embeddings_0,
+        expected_gathered_embeddings_1], axis=0)
+    expected_gathered_embeddings = np.reshape(
+        expected_gathered_embeddings,
+        [batch_size, num_instances, embedding_size])
+    np.testing.assert_allclose(expected_gathered_embeddings,
+                               gathered_predicted_embeddings)
+
 
 # Common parameters for setting up testing examples across tests.
 _NUM_CLASSES = 10
@@ -1053,6 +1088,9 @@ _KEYPOINT_INDICES = [0, 1, 2, 3]
 _NUM_KEYPOINTS = len(_KEYPOINT_INDICES)
 _DENSEPOSE_NUM_PARTS = 24
 _TASK_NAME = 'human_pose'
+_NUM_TRACK_IDS = 3
+_REID_EMBED_SIZE = 2
+_NUM_FC_LAYERS = 1
 
 
 def get_fake_center_params():
@@ -1108,6 +1146,16 @@ def get_fake_densepose_params():
       upsample_method='nearest')
 
 
+def get_fake_track_params():
+  """Returns the fake object tracking parameter namedtuple."""
+  return cnma.TrackParams(
+      num_track_ids=_NUM_TRACK_IDS,
+      reid_embed_size=_REID_EMBED_SIZE,
+      num_fc_layers=_NUM_FC_LAYERS,
+      classification_loss=losses.WeightedSoftmaxClassificationLoss(),
+      task_loss_weight=1.0)
+
+
 def build_center_net_meta_arch(build_resnet=False):
   """Builds the CenterNet meta architecture."""
   if build_resnet:
@@ -1136,7 +1184,8 @@ def build_center_net_meta_arch(build_resnet=False):
       object_detection_params=get_fake_od_params(),
       keypoint_params_dict={_TASK_NAME: get_fake_kp_params()},
       mask_params=get_fake_mask_params(),
-      densepose_params=get_fake_densepose_params())
+      densepose_params=get_fake_densepose_params(),
+      track_params=get_fake_track_params())
 
 
 def _logit(p):
@@ -1230,6 +1279,11 @@ class CenterNetMetaArchTest(test_case.TestCase, parameterized.TestCase):
         fake_feature_map)
     self.assertEqual((4, 128, 128, 2 * _DENSEPOSE_NUM_PARTS), output.shape)
 
+    # "track embedding" head:
+    output = model._prediction_head_dict[cnma.TRACK_REID][-1](
+        fake_feature_map)
+    self.assertEqual((4, 128, 128, _REID_EMBED_SIZE), output.shape)
+
   def test_initialize_target_assigners(self):
     model = build_center_net_meta_arch()
     assigner_dict = model._initialize_target_assigners(
@@ -1257,6 +1311,10 @@ class CenterNetMetaArchTest(test_case.TestCase, parameterized.TestCase):
     self.assertIsInstance(assigner_dict[cnma.DENSEPOSE_TASK],
                           cn_assigner.CenterNetDensePoseTargetAssigner)
 
+    # Track estimation target assigner:
+    self.assertIsInstance(assigner_dict[cnma.TRACK_TASK],
+                          cn_assigner.CenterNetTrackTargetAssigner)
+
   def test_predict(self):
     """Test the predict function."""
 
@@ -1281,6 +1339,8 @@ class CenterNetMetaArchTest(test_case.TestCase, parameterized.TestCase):
                      (2, 32, 32, _DENSEPOSE_NUM_PARTS))
     self.assertEqual(prediction_dict[cnma.DENSEPOSE_REGRESSION][0].shape,
                      (2, 32, 32, 2 * _DENSEPOSE_NUM_PARTS))
+    self.assertEqual(prediction_dict[cnma.TRACK_REID][0].shape,
+                     (2, 32, 32, _REID_EMBED_SIZE))
 
   def test_loss(self):
     """Test the loss function."""
@@ -1299,7 +1359,16 @@ class CenterNetMetaArchTest(test_case.TestCase, parameterized.TestCase):
         groundtruth_dp_part_ids_list=groundtruth_dict[
             fields.BoxListFields.densepose_part_ids],
         groundtruth_dp_surface_coords_list=groundtruth_dict[
-            fields.BoxListFields.densepose_surface_coords])
+            fields.BoxListFields.densepose_surface_coords],
+        groundtruth_track_ids_list=groundtruth_dict[
+            fields.BoxListFields.track_ids])
+
+    kernel_initializer = tf.constant_initializer(
+        [[1, 1, 0], [-1000000, -1000000, 1000000]])
+    model.track_reid_classification_net = tf.keras.layers.Dense(
+        _NUM_TRACK_IDS,
+        kernel_initializer=kernel_initializer,
+        input_shape=(_REID_EMBED_SIZE,))
 
     prediction_dict = get_fake_prediction_dict(
         input_height=16, input_width=32, stride=4)
@@ -1341,6 +1410,9 @@ class CenterNetMetaArchTest(test_case.TestCase, parameterized.TestCase):
     self.assertGreater(
         0.01, loss_dict['%s/%s' % (cnma.LOSS_KEY_PREFIX,
                                    cnma.DENSEPOSE_REGRESSION)])
+    self.assertGreater(
+        0.01, loss_dict['%s/%s' % (cnma.LOSS_KEY_PREFIX,
+                                   cnma.TRACK_REID)])
 
   @parameterized.parameters(
       {'target_class_id': 1},
@@ -1386,6 +1458,11 @@ class CenterNetMetaArchTest(test_case.TestCase, parameterized.TestCase):
 
     dp_surf_coords = np.random.randn(1, 32, 32, 2 * _DENSEPOSE_NUM_PARTS)
 
+    embedding_size = 100
+    track_reid_embedding = np.zeros((1, 32, 32, embedding_size),
+                                    dtype=np.float32)
+    track_reid_embedding[0, 16, 16, :] = np.ones(embedding_size)
+
     class_center = tf.constant(class_center)
     height_width = tf.constant(height_width)
     offset = tf.constant(offset)
@@ -1395,6 +1472,7 @@ class CenterNetMetaArchTest(test_case.TestCase, parameterized.TestCase):
     segmentation_heatmap = tf.constant(segmentation_heatmap, dtype=tf.float32)
     dp_part_heatmap = tf.constant(dp_part_heatmap, dtype=tf.float32)
     dp_surf_coords = tf.constant(dp_surf_coords, dtype=tf.float32)
+    track_reid_embedding = tf.constant(track_reid_embedding, dtype=tf.float32)
 
     prediction_dict = {
         cnma.OBJECT_CENTER: [class_center],
@@ -1408,7 +1486,8 @@ class CenterNetMetaArchTest(test_case.TestCase, parameterized.TestCase):
             [keypoint_regression],
         cnma.SEGMENTATION_HEATMAP: [segmentation_heatmap],
         cnma.DENSEPOSE_HEATMAP: [dp_part_heatmap],
-        cnma.DENSEPOSE_REGRESSION: [dp_surf_coords]
+        cnma.DENSEPOSE_REGRESSION: [dp_surf_coords],
+        cnma.TRACK_REID: [track_reid_embedding]
     }
 
     def graph_fn():
@@ -1422,6 +1501,14 @@ class CenterNetMetaArchTest(test_case.TestCase, parameterized.TestCase):
                         np.array([55, 46, 75, 86]) / 128.0)
     self.assertAllClose(detections['detection_scores'][0],
                         [.75, .5, .5, .5, .5])
+    # The output embedding extracted at the object center will be a 3-D array of
+    # shape [batch, num_boxes, embedding_size]. The valid predicted embedding
+    # will be the first embedding in the first batch. It is a 1-D array of
+    # shape [embedding_size] with values all ones. All the values of the
+    # embedding will then be divided by the square root of 'embedding_size'
+    # after the L2 normalization.
+    self.assertAllClose(detections['detection_embeddings'][0, 0],
+                        np.ones(embedding_size) / embedding_size**0.5)
     self.assertEqual(detections['detection_classes'][0, 0], target_class_id)
     self.assertEqual(detections['num_detections'], [5])
     self.assertAllEqual([1, max_detection, num_keypoints, 2],
@@ -1430,6 +1517,8 @@ class CenterNetMetaArchTest(test_case.TestCase, parameterized.TestCase):
                         detections['detection_keypoint_scores'].shape)
     self.assertAllEqual([1, max_detection, 4, 4],
                         detections['detection_masks'].shape)
+    self.assertAllEqual([1, max_detection, embedding_size],
+                        detections['detection_embeddings'].shape)
 
     # Masks should be empty for everything but the first detection.
     self.assertAllEqual(
@@ -1539,6 +1628,10 @@ def get_fake_prediction_dict(input_height, input_width, stride):
   # (5 * 2, 5 * 2 + 1), or (10, 11).
   densepose_regression[0, 2, 4, 10:12] = 0.4, 0.7
 
+  track_reid_embedding = np.zeros((2, output_height, output_width,
+                                   _REID_EMBED_SIZE), dtype=np.float32)
+  track_reid_embedding[0, 2, 4, :] = np.arange(_REID_EMBED_SIZE)
+
   prediction_dict = {
       'preprocessed_inputs':
           tf.zeros((2, input_height, input_width, 3)),
@@ -1577,6 +1670,10 @@ def get_fake_prediction_dict(input_height, input_width, stride):
       cnma.DENSEPOSE_REGRESSION: [
           tf.constant(densepose_regression),
           tf.constant(densepose_regression),
+      ],
+      cnma.TRACK_REID: [
+          tf.constant(track_reid_embedding),
+          tf.constant(track_reid_embedding),
       ]
   }
   return prediction_dict
@@ -1635,6 +1732,10 @@ def get_fake_groundtruth_dict(input_height, input_width, stride):
       tf.constant(densepose_surface_coords_np),
       tf.zeros_like(densepose_surface_coords_np)
   ]
+  track_ids = [
+      tf.constant([2], dtype=tf.int32),
+      tf.constant([1], dtype=tf.int32),
+  ]
   groundtruth_dict = {
       fields.BoxListFields.boxes: boxes,
       fields.BoxListFields.weights: weights,
@@ -1645,6 +1746,7 @@ def get_fake_groundtruth_dict(input_height, input_width, stride):
       fields.BoxListFields.densepose_part_ids: densepose_part_ids,
       fields.BoxListFields.densepose_surface_coords:
           densepose_surface_coords,
+      fields.BoxListFields.track_ids: track_ids,
       fields.InputDataFields.groundtruth_labeled_classes: labeled_classes,
   }
   return groundtruth_dict
@@ -1778,6 +1880,27 @@ class CenterNetMetaComputeLossTest(test_case.TestCase):
     # The prediction and groundtruth are curated to produce very low loss.
     self.assertGreater(0.01, loss)
 
+  def test_compute_track_embedding_loss(self):
+    default_fc = self.model.track_reid_classification_net
+    # Initialize the kernel to extreme values so that the classification score
+    # is close to (0, 0, 1) after the softmax layer.
+    kernel_initializer = tf.constant_initializer(
+        [[1, 1, 0], [-1000000, -1000000, 1000000]])
+    self.model.track_reid_classification_net = tf.keras.layers.Dense(
+        _NUM_TRACK_IDS,
+        kernel_initializer=kernel_initializer,
+        input_shape=(_REID_EMBED_SIZE,))
+
+    loss = self.model._compute_track_embedding_loss(
+        input_height=self.input_height,
+        input_width=self.input_width,
+        object_reid_predictions=self.prediction_dict[cnma.TRACK_REID])
+
+    self.model.track_reid_classification_net = default_fc
+
+    # The prediction and groundtruth are curated to produce very low loss.
+    self.assertGreater(0.01, loss)
+
 
 @unittest.skipIf(tf_version.is_tf1(), 'Skipping TF2.X only test.')
 class CenterNetMetaArchRestoreTest(test_case.TestCase):
diff --git a/research/object_detection/model_lib.py b/research/object_detection/model_lib.py
index 1eb482d19bdd546b5f7e4ab49bde2039421ead39..f509f73c96afe833a6f6ab3fd6fdec1f6f3ceec2 100644
--- a/research/object_detection/model_lib.py
+++ b/research/object_detection/model_lib.py
@@ -102,6 +102,8 @@ def _prepare_groundtruth_for_eval(detection_model, class_agnostic,
       'groundtruth_dp_surface_coords_list': [batch_size, num_boxes,
         max_sampled_points, 4] containing the DensePose surface coordinates for
         each sampled point (if provided in groundtruth).
+      'groundtruth_track_ids_list': [batch_size, num_boxes] int32 tensor
+        with track ID for each instance (if provided in groundtruth).
       'groundtruth_group_of': [batch_size, num_boxes] bool tensor indicating
         group_of annotations (if provided in groundtruth).
       'groundtruth_labeled_classes': [batch_size, num_classes] int64
@@ -187,6 +189,11 @@ def _prepare_groundtruth_for_eval(detection_model, class_agnostic,
     groundtruth[input_data_fields.groundtruth_dp_surface_coords] = tf.stack(
         detection_model.groundtruth_lists(
             fields.BoxListFields.densepose_surface_coords))
+
+  if detection_model.groundtruth_has_field(fields.BoxListFields.track_ids):
+    groundtruth[input_data_fields.groundtruth_track_ids] = tf.stack(
+        detection_model.groundtruth_lists(fields.BoxListFields.track_ids))
+
   groundtruth[input_data_fields.num_groundtruth_boxes] = (
       tf.tile([max_number_of_boxes], multiples=[groundtruth_boxes_shape[0]]))
   return groundtruth
@@ -245,6 +252,7 @@ def unstack_batch(tensor_dict, unpad_groundtruth_tensors=True):
         fields.InputDataFields.groundtruth_dp_num_points,
         fields.InputDataFields.groundtruth_dp_part_ids,
         fields.InputDataFields.groundtruth_dp_surface_coords,
+        fields.InputDataFields.groundtruth_track_ids,
         fields.InputDataFields.groundtruth_group_of,
         fields.InputDataFields.groundtruth_difficult,
         fields.InputDataFields.groundtruth_is_crowd,
@@ -307,6 +315,10 @@ def provide_groundtruth(model, labels):
   if fields.InputDataFields.groundtruth_dp_surface_coords in labels:
     gt_dp_surface_coords_list = labels[
         fields.InputDataFields.groundtruth_dp_surface_coords]
+  gt_track_ids_list = None
+  if fields.InputDataFields.groundtruth_track_ids in labels:
+    gt_track_ids_list = labels[
+        fields.InputDataFields.groundtruth_track_ids]
   gt_weights_list = None
   if fields.InputDataFields.groundtruth_weights in labels:
     gt_weights_list = labels[fields.InputDataFields.groundtruth_weights]
@@ -341,7 +353,8 @@ def provide_groundtruth(model, labels):
       groundtruth_weights_list=gt_weights_list,
       groundtruth_is_crowd_list=gt_is_crowd_list,
       groundtruth_group_of_list=gt_group_of_list,
-      groundtruth_area_list=gt_area_list)
+      groundtruth_area_list=gt_area_list,
+      groundtruth_track_ids_list=gt_track_ids_list)
 
 
 def create_model_fn(detection_model_fn, configs, hparams=None, use_tpu=False,
diff --git a/research/object_detection/model_lib_v2.py b/research/object_detection/model_lib_v2.py
index 68a4b302300f2bef61e31c1ad35e7f9ecebea8f8..f118604c5e529b6a1d6cace3021a6867ef5cea26 100644
--- a/research/object_detection/model_lib_v2.py
+++ b/research/object_detection/model_lib_v2.py
@@ -104,6 +104,8 @@ def _compute_losses_and_predictions_dicts(
           containing group_of annotations.
         labels[fields.InputDataFields.groundtruth_labeled_classes] is a float32
           k-hot tensor of classes.
+        labels[fields.InputDataFields.groundtruth_track_ids] is a int32
+          tensor of track IDs.
     add_regularization_loss: Whether or not to include the model's
       regularization loss in the losses dictionary.
 
@@ -216,6 +218,8 @@ def eager_train_step(detection_model,
           (v, u) are part-relative normalized surface coordinates.
         labels[fields.InputDataFields.groundtruth_labeled_classes] is a float32
           k-hot tensor of classes.
+        labels[fields.InputDataFields.groundtruth_track_ids] is a int32
+          tensor of track IDs.
     unpad_groundtruth_tensors: A parameter passed to unstack_batch.
     optimizer: The training optimizer that will update the variables.
     learning_rate: The learning rate tensor for the current training step.
diff --git a/research/object_detection/protos/center_net.proto b/research/object_detection/protos/center_net.proto
index a4ad0beef1688af23072d473705ee0dca6052173..8b20dcb3ab6833256584fd5cdd96471a6b25bdfd 100644
--- a/research/object_detection/protos/center_net.proto
+++ b/research/object_detection/protos/center_net.proto
@@ -218,6 +218,32 @@ message CenterNet {
     optional float heatmap_bias_init = 8 [default = -2.19];
   }
   optional DensePoseEstimation densepose_estimation_task = 9;
+
+  // Parameters which are related to tracking embedding estimation task.
+  // A Simple Baseline for Multi-Object Tracking [2]
+  // [2]: https://arxiv.org/abs/2004.01888
+  message TrackEstimation {
+    // Weight of the task loss. The total loss of the model will be the
+    // summation of task losses weighted by the weights.
+    optional float task_loss_weight = 1 [default = 1.0];
+
+    // The maximun track ID of the datset.
+    optional int32 num_track_ids = 2;
+
+    // The embedding size for re-identification (ReID) task in tracking.
+    optional int32 reid_embed_size = 3 [default = 128];
+
+    // The number of (fully-connected, batch-norm, relu) layers for track ID
+    // classification head. The output dimension of each intermediate FC layer
+    // will all be 'reid_embed_size'. The last FC layer will directly project to
+    // the track ID classification space of size 'num_track_ids' without
+    // batch-norm and relu layers.
+    optional int32 num_fc_layers = 4 [default = 1];
+
+    // Classification loss configuration for ReID loss.
+    optional ClassificationLoss classification_loss = 5;
+  }
+  optional TrackEstimation track_estimation_task = 10;
 }
 
 message CenterNetFeatureExtractor {
diff --git a/research/object_detection/protos/input_reader.proto b/research/object_detection/protos/input_reader.proto
index c6bacd2894536645c9496525f0c53a550ed0bfdb..387b290f48cd04a80a64989010ddce27f233063c 100644
--- a/research/object_detection/protos/input_reader.proto
+++ b/research/object_detection/protos/input_reader.proto
@@ -30,7 +30,7 @@ enum InputType {
   TF_SEQUENCE_EXAMPLE = 2;        // TfSequenceExample Input
 }
 
-// Next id: 33
+// Next id: 34
 message InputReader {
   // Name of input reader. Typically used to describe the dataset that is read
   // by this input reader.
@@ -122,6 +122,9 @@ message InputReader {
   // to true.
   optional bool load_dense_pose = 31 [default = false];
 
+  // Whether to load track information.
+  optional bool load_track_id = 33 [default = false];
+
   // Whether to use the display name when decoding examples. This is only used
   // when mapping class text strings to integers.
   optional bool use_display_name = 17 [default = false];