Yuning Chai, Benjamin Sapp, Mayank Bansal, Dragomir Anguelov
TL;DR以未来状态序列锚点为基础，为多模式轨迹概率分布预测提供了一个有效的解决方案。
Abstract
Predicting human behavior is a difficult and crucial task required for motion
planning. It is challenging in large part due to the highly uncertain and
multi-modal set of possible outcomes in real-world domains such as autonomous
driving. Beyond single MAP trajectory prediction, obtain