Before revision:  In this paper, we present LookOut, an approach to jointly perceive the environmentand predict a diverse set of futures from sensor data, estimate their probability, and optimize a contingency plan over these diverse future realizations.
After revision:  In this paper, we present LookOut, an approach to jointly perceive the environmentand predict a diverse set of futures of how the scene might unroll and estimates the trajectory of the SDV by optimizing a set of contingency plans over these future realizations.