@article{multimodaltrajectorypredictionconditione,
  title = {Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversals},
  author = {Nachiket Deo and Eric M. Wolff and Oscar Beijbom},
  year = {2021},
  eprint = {2106.15004},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2106.15004v2},
}