# Real-Time Heterogeneous Road-Agents Trajectory Prediction Using Hierarchical Convolutional Networks and Multi-Task Learning

> Research article (IEEE Transactions on Intelligent Vehicles, 2023) · cited 19× · AI/ML

**Wikidata**: [openalex:W4376464702](https://www.wikidata.org/wiki/openalex:W4376464702)  
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