Wilson, B., Qi, W., Agarwal, T., Lambert, J., Singh, J., Khandelwal, S., Pan, B., Kumar, R., Hartnett, A., Pontes, J. K., Ramanan, D., Carr, P., & Hays, J. Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting [Conference paper]