STGFormer: A pyramidal spatio-temporal graph transformer with cross-disciplinary feature fusion for semantic-rich trajectory prediction in heterogeneous autonomy traffic. - Cheng Ju; Yuansha Xie; Zhongrong Wang; Yu Zhao; Wenyao Yan; Rongjun Chai; Juan Duan; Yali Cao; Yuxin Chang (Expert Syst. Appl., 2026)