@article{heterogeneousagenttrajectoryforecasting,
  title = {Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertainty},
  author = {Boris Ivanovic and Kuan-Hui Lee and Pavel Tokmakov and Blake Wulfe and Rowan Mcallister and Adrien Gaidon and Marco Pavone},
  year = {2021},
  eprint = {2104.12446},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2104.12446v2},
}