Ma, Yuexin, Xinge Zhu, Sibo Zhang, Ruigang Yang, Wenping Wang, and Dinesh Manocha. “TrafficPredict: Trajectory Prediction for Heterogeneous Traffic-Agents”. Proceedings of the AAAI Conference on Artificial Intelligence 33, no. 01 (July 17, 2019): 6120-6127. Accessed January 21, 2022. https://ojs.aaai.org/index.php/AAAI/article/view/4569.