@article{mtra1stplacesolutionfor2022waymoopen,
  title = {MTR-A: 1st Place Solution for 2022 Waymo Open Dataset Challenge -- Motion Prediction},
  author = {Shaoshuai Shi and Li Jiang and Dengxin Dai and Bernt Schiele},
  year = {2022},
  eprint = {2209.10033},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2209.10033v1},
}