SAPI: Surroundings-Aware Vehicle Trajectory Prediction at Intersections. - Ethan Zhang; Hao Xiao; Yiqian Gan; Lei Wang (CoRR, 2023)

MGTR: Multi-Granular Transformer for Motion Prediction with LiDAR. - Yiqian Gan; Hao Xiao; Yizhe Zhao; Ethan Zhang; Zhe Huang; Xin Ye; Lingting Ge (CoRR, 2023)

Multi-Granular Transformer for Motion Prediction with LiDAR. - Yiqian Gan; Hao Xiao; Yizhe Zhao; Ethan Zhang; Zhe Huang; Xin Ye; Lingting Ge (ICRA, 2024)