@inproceedings{ZLS+23,
  author = {Zhang, Zhejun and Liniger, Alexander and Sakaridis, Christos and Yu, Fisher and Van Gool, Luc},
  title = {Real-Time Motion Prediction via Heterogeneous Polyline Transformer with Relative Pose Encoding},
  booktitle = {Conference on Neural Information Processing Systems (NeurIPS)},
  year = 2023
}