@inproceedings{Sui2021Joint,
                title={Joint Intention and Trajectory Prediction Based on Transformer},
                author={Sui, Ze; Zhou, Yue; Zhao, Xu; Chen, Ao and Ni, Yiyang},
                booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
                year={2021},
            }