ASTRA is a compact transformer-based trajectory predictor that fuses U-Net scene features, random-walk social encodings, and a weighted loss, reporting lower average displacement errors on ETH-UCY and PIE.
Hdgt: Heterogeneous driving graph transformer for multi-agent trajectory prediction via scene encoding,
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ASTRA: A Scene-aware TRAnsformer-based model for trajectory prediction
ASTRA is a compact transformer-based trajectory predictor that fuses U-Net scene features, random-walk social encodings, and a weighted loss, reporting lower average displacement errors on ETH-UCY and PIE.