# MacFormer: Map-Agent Coupled Transformer for Real-Time and Robust Trajectory Prediction

> Research article (IEEE Robotics and Automation Letters, 2023) · cited 70× · AI/ML

**Wikidata**: [openalex:W4386432277](https://www.wikidata.org/wiki/openalex:W4386432277)  
**Source**: https://4ort.xyz/entity/macformer-map-agent-coupled-transformer-for-real-time-and-robust-trajectory-prediction