@article{hopehierarchicalspatialtemporalnetwork,
  title = {HOPE: Hierarchical Spatial-temporal Network for Occupancy Flow Prediction},
  author = {Yihan Hu and Wenxin Shao and Bo Jiang and Jiajie Chen and Siqi Chai and Zhening Yang and Jingyu Qian and Helong Zhou and Qiang Liu},
  year = {2022},
  eprint = {2206.10118},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2206.10118v1},
}