Retrocausal transformer decomposes multi-agent motion forecasts into marginals and pairwise joints, models uncertainty with compressed exponentials, achieves strong Waymo results, generalizes to Argoverse 2 and V2X-Seq, and enables implicit instruction following from standard training.
Scene transformer: A unified architecture for predicting fu- ture trajectories of multiple agents
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RetroMotion: Retrocausal Motion Forecasting Models are Instructable
Retrocausal transformer decomposes multi-agent motion forecasts into marginals and pairwise joints, models uncertainty with compressed exponentials, achieves strong Waymo results, generalizes to Argoverse 2 and V2X-Seq, and enables implicit instruction following from standard training.