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HDGT: Heterogeneous Driving Graph Transformer for Multi-Age..:

Jia, Xiaosong ; Wu, Penghao ; Chen, Li...
IEEE Transactions on Pattern Analysis and Machine Intelligence.  45 (2023)  11 - p. 13860-13875 , 2023
Link: https://doi.org/10.1109/tpami.2023.3298301