PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation. - Alexey Kamenev; Lirui Wang; Ollin Boer Bohan; Ishwar Kulkarni; Bilal Kartal; Artem Molchanov; Stan Birchfield; David Nistér; Nikolai Smolyanskiy (ICRA, 2022)