A two-track Transformer separates trajectory prediction from neighbor-aware intention estimation and learns ordered multi-modal outputs via residual offsets among K trajectories.
Trajectron++: Dynamically-feasible trajectory forecasting with heterogeneous data,
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Self-Discovered Intention-aware Transformer for Multi-modal Vehicle Trajectory Prediction
A two-track Transformer separates trajectory prediction from neighbor-aware intention estimation and learns ordered multi-modal outputs via residual offsets among K trajectories.