diff --git a/README.md b/README.md
index 42a2f85c87..72edc1dafd 100644
--- a/README.md
+++ b/README.md
@@ -87,7 +87,7 @@ Please refer to [install.md](docs/install.md) for installation and dataset prepa
 
 ## Get Started
 
-Please see [getting_started.md](docs/getting_started.md) for the basic usage of MMDetection. There are also tutorials for [finetuning models](docs/tutorials/finetune.md), [adding new dataset](docs/tutorials/new_dataset.md), [designing data pipeline](docs/tutorials/data_pipeline.md), and [adding new modules](docs/tutorials/new_modules.md).
+Please see [getting_started.md](docs/getting_started.md) for the basic usage of MMDetection3D. There are also tutorials for [finetuning models](docs/tutorials/finetune.md), [adding new dataset](docs/tutorials/new_dataset.md), [designing data pipeline](docs/tutorials/data_pipeline.md), [adding new modules](docs/tutorials/new_modules.md), and [waymo dataset](docs/tutorials/waymo.md).
 
 ## Contributing
 
diff --git a/docs/index.rst b/docs/index.rst
index 296405b69d..03642c8b23 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -7,12 +7,23 @@ Welcome to MMDetection3D's documentation!
    install.md
    getting_started.md
    model_zoo.md
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Notes
+
    benchmarks.md
    config.md
-   tutorials/finetune.md
-   tutorials/new_dataset.md
-   tutorials/data_pipeline.md
-   tutorials/new_modules.md
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Tutorials
+
+   tutorials/index.rst
+
+.. toctree::
+   :caption: API Reference
+
    api.rst
 
 
diff --git a/docs/model_zoo.md b/docs/model_zoo.md
index 2f2a9e6ab4..b1331f51cc 100644
--- a/docs/model_zoo.md
+++ b/docs/model_zoo.md
@@ -14,7 +14,7 @@ Please refer to [SECOND](https://github.com/open-mmlab/mmdetection3d/blob/master
 
 ### PointPillars
 
-Please refer to [PointPillars](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/pointpillars) for details.
+Please refer to [PointPillars](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/pointpillars) for details. We provide pointpillars baselines on KITTI, nuScenes, Lyft, and Waymo datasets.
 
 ### Part-A2
 
@@ -22,7 +22,7 @@ Please refer to [Part-A2](https://github.com/open-mmlab/mmdetection3d/blob/maste
 
 ### VoteNet
 
-Please refer to [VoteNet](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/votenet) for details.
+Please refer to [VoteNet](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/votenet) for details. We provide VoteNet baselines on ScanNet and SUNRGBD datasets.
 
 ### Dynamic Voxelization
 
@@ -33,10 +33,10 @@ Please refer to [Dynamic Voxelization](https://github.com/open-mmlab/mmdetection
 Please refer to [MVXNet](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/mvxnet) for details.
 
 ### RegNetX
-Please refer to [RegNet](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/regnet) for details.
+Please refer to [RegNet](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/regnet) for details. We provide pointpillars baselines with RegNetX backbones on nuScenes and Lyft datasets currently.
 
 ### nuImages
-We also support baseline models on [nuImages dataset](https://www.nuscenes.org/nuimages). Please refer to [nuImages](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/nuimages) for details.
+We also support baseline models on [nuImages dataset](https://www.nuscenes.org/nuimages). Please refer to [nuImages](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/nuimages) for details. We report Mask R-CNN and Cascade Mask R-CNN results currently.
 
 ### H3DNet
 
diff --git a/docs/tutorials/index.rst b/docs/tutorials/index.rst
new file mode 100644
index 0000000000..36c0d577ac
--- /dev/null
+++ b/docs/tutorials/index.rst
@@ -0,0 +1,8 @@
+.. toctree::
+   :maxdepth: 2
+
+   finetune.md
+   new_dataset.md
+   data_pipeline.md
+   new_modules.md
+   waymo.md
diff --git a/docs/waymo.md b/docs/tutorials/waymo.md
similarity index 99%
rename from docs/waymo.md
rename to docs/tutorials/waymo.md
index db24588dfe..01cfe9de00 100644
--- a/docs/waymo.md
+++ b/docs/tutorials/waymo.md
@@ -1,4 +1,4 @@
-# A Brief Tutorial for Waymo Dataset
+# Tutorial 5: Waymo Dataset
 
 This page provides specific tutorials about the usage of MMDetection3D for waymo dataset.
 
@@ -116,7 +116,7 @@ Then you can evaluate your models on waymo. An example to evaluate PointPillars
 
 **Notice**:
 
-1. Sometimes when using bazel to build `compute_detection_metrics_main`, an error `'round' is not a member of 'std'` may appear. We just need to remove the `std::` before `round` in that file. 
+1. Sometimes when using bazel to build `compute_detection_metrics_main`, an error `'round' is not a member of 'std'` may appear. We just need to remove the `std::` before `round` in that file.
 
 2. Considering it takes a little long time to evaluate once, we recommend to evaluate only once at the end of model training.