MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Prediction. - Balakrishnan Varadarajan; Ahmed Hefny; Avikalp Srivastava; Khaled S. Refaat; Nigamaa Nayakanti; Andre Cornman; Kan Chen; Bertrand Douillard; Chi-Pang Lam; Dragomir Anguelov; Benjamin Sapp (ICRA, 2022)

MotionLM: Multi-Agent Motion Forecasting as Language Modeling. - Ari Seff; Brian Cera; Dian Chen; Mason Ng; Aurick Zhou; Nigamaa Nayakanti; Khaled S. Refaat; Rami Al-Rfou; Benjamin Sapp (ICCV, 2023)

Wayformer: Motion Forecasting via Simple & Efficient Attention Networks. - Nigamaa Nayakanti; Rami Al-Rfou; Aurick Zhou; Kratarth Goel; Khaled S. Refaat; Benjamin Sapp (ICRA, 2023)

VN-Transformer: Rotation-Equivariant Attention for Vector Neurons. - Serge Assaad; Carlton Downey; Rami Al-Rfou'; Nigamaa Nayakanti; Benjamin Sapp (Trans. Mach. Learn. Res., 2023)