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 <p align="center"><img width="100%" src="img/Trajectron++.png"/></p>
 
 # Trajectron++: Dynamically-Feasible Trajectory Forecasting With Heterogeneous Data #
-This repository contains the code for [Trajectron++: Dynamically-Feasible Trajectory Forecasting With Heterogeneous Data](img/paper.pdf) by Tim Salzmann\*, Boris Ivanovic\*, Punarjay Chakravarty, and Marco Pavone (\* denotes equal contribution).
+This repository contains the code for [Trajectron++: Dynamically-Feasible Trajectory Forecasting With Heterogeneous Data](https://arxiv.org/abs/2001.03093) by Tim Salzmann\*, Boris Ivanovic\*, Punarjay Chakravarty, and Marco Pavone (\* denotes equal contribution).
 
 ## Installation ##
 
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