@article{predictionnetrealtimejointprobabilistic,
  title = {PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation},
  author = {Alexey Kamenev and Lirui Wang and Ollin Boer Bohan and Ishwar Kulkarni and Bilal Kartal and Artem Molchanov and Stan Birchfield and David Nistér and Nikolai Smolyanskiy},
  year = {2021},
  eprint = {2109.11094},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.11094v2},
}