TL;DR提出一种名为DenseTNT的无锚点（anchor-free）模型，通过稠密的目标概率估计进行轨迹预测，取得了最先进的性能，在Waymo Open Dataset运动预测挑战中排名第一。
Abstract
In autonomous driving, goal-based multi-trajectory prediction methods are proved to be effective recently, where they first score goal candidates, then select a final set of goals, and finally complete trajectori