Before revision:  Through extensive evaluations, we show that our model demonstrates significantly more diverse and sample-efficient motion forecasting in a large-scale self-driving dataset as well as safer and more comfortable motion plans in long-term closed-loop simulations than current state-of-the-art models.
After revision:  Through extensive evaluations, we show that our model demonstrates significantly more diverse and sample-efficient motion forecasting in a large-scale self-driving dataset as well as safer and less-conservative motion plans in long-term closed-loop simulations than current state-of-the-art models.