# HDGT: Heterogeneous Driving Graph Transformer for Multi-Agent Trajectory Prediction via Scene Encoding

> Research article (IEEE Transactions on Pattern Analysis and Machine Intelligence, 2023) · cited 171× · AI/ML

**Wikidata**: [openalex:W4385221361](https://www.wikidata.org/wiki/openalex:W4385221361)  
**Source**: https://4ort.xyz/entity/hdgt-heterogeneous-driving-graph-transformer-for-multi-agent-trajectory-prediction-via-scene-encoding