# Diverse Multiple Trajectory Prediction Using a Two-Stage Prediction Network Trained With Lane Loss

> Research article (IEEE Robotics and Automation Letters, 2023) · cited 23× · AI/ML

**Wikidata**: [openalex:W4320519860](https://www.wikidata.org/wiki/openalex:W4320519860)  
**Source**: https://4ort.xyz/entity/diverse-multiple-trajectory-prediction-using-a-two-stage-prediction-network-trained-with-lane-loss