HSTR: Hierarchical Scene Transformer for Multi-agent Trajectory Prediction. - Shuaiqi Fu; Yixuan Yang; Xiaoyang Luo; Changhao Chen; Yanan Zhao 004; Huachun Tan (IV, 2024)

HSTI: A Light Hierarchical Spatial-Temporal Interaction Model for Map-Free Trajectory Prediction. - Xiaoyang Luo; Shuaiqi Fu; Baolin Gao; Yanan Zhao 004; Huachun Tan; Zeye Song (IEEE Trans. Intell. Transp. Syst., 2025)