Supplementary Material of Real-Time Motion Prediction via Heterogeneous Polyline Transformer with Relative Pose Encoding Anonymous Author(s) Affiliation Address email

The feed-forward hidden dimension of Transformers is set to 1024. AC-to-all Transformer decoders, have 2 layers. The same setup is used for both the WOMD dataset and the A V2 dataset. In the following, we report the configuration of ablation models. VRAM (RTX 3090 in our case) because they require more GPU memory at training time.