This letter presents GAMMA, a general motion prediction model that enables large-scale
real-time simulation and planning for autonomous driving. GAMMA models heterogeneous,
interactive traffic agents that operate under diverse road conditions, with various geometric
and kinematic constraints. GAMMA treats the prediction task as constrained optimization in
traffic agents' velocity space. The objective is to optimize an agent's driving performance,
while obeying all the constraints resulting from the agent's kinematics, collision avoidance …

This paper presents GAMMA, a general motion prediction model that enables large-scale
real-time simulation and planning for autonomous driving. GAMMA models heterogeneous,
interactive traffic agents. They operate under diverse road conditions, with various geometric
and kinematic constraints. GAMMA treats the prediction task as constrained optimization in
traffic agents' velocity space. The objective is to optimize an agent's driving performance,
while obeying all the constraints resulting from the agent's kinematics, collision avoidance …