A two-stage joint trajectory prediction model that uses trajectory-type classification in a marginal proposal stage and keypoint-guided joint refinement beats prior methods on Waymo interaction metrics for position error.
Multimodal motion prediction with stacked transformers,
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JAM: Keypoint-Guided Joint Prediction after Classification-Aware Marginal Proposal for Multi-Agent Interaction
A two-stage joint trajectory prediction model that uses trajectory-type classification in a marginal proposal stage and keypoint-guided joint refinement beats prior methods on Waymo interaction metrics for position error.