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Object detection and forecasting are fundamental components of embodied perception. These two problems, however, are largely studied in isolation by the community. In this paper, we propose an end-to-end approach for detection and motion forecasting based on raw sensor measurement as opposed to ground truth tracks. Instead of predicting the current frame locations and forecasting forward in time, we directly predict future object locations and backcast to determine where each trajectory began.arXiv:2203.16297v2 fatcat:lxrzwuzlyvbpfpmr3mujnfdipm