This repository contains the code for Trajectron++: Dynamically-Feasible Trajectory Forecasting With Heterogeneous Data by Tim Salzmann*, Boris Ivanovic*, Punarjay Chakravarty, and Marco Pavone (* ...

We introduce a general-purpose reusable neural unit called Conditional Relation Network (CRN) that encapsulates and transforms an array of tensorial objects into a new array of the same kind, ...