@article{scenetransformeraunifiedmultitaskmodel,
  title = {Scene Transformer: A unified architecture for predicting multiple agent trajectories},
  author = {Jiquan Ngiam and Benjamin Caine and Vijay Vasudevan 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 Weiss and Ben Sapp and Zhifeng Chen and Jonathon Shlens},
  year = {2021},
  eprint = {2106.08417},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2106.08417v3},
}