@inproceedings{scenetransformeraunifiedarchitecturefor,
  title = {Scene Transformer: A unified architecture for predicting future trajectories of multiple agents},
  author = {Jiquan Ngiam and Vijay Vasudevan and Benjamin Caine and Zhengdong Zhang and Hao-Tien Lewis Chiang and Jeffrey Ling and Rebecca Roelofs and Alex Bewley and Chenxi Liu and Ashish Venugopal and David J Weiss and Ben Sapp and Zhifeng Chen and Jonathon Shlens},
  year = {2021},
  booktitle = {ICLR 2022 4},
  url = {https://openreview.net/forum?id=Wm3EA5OlHsG},
}