Before revision:  Towards this end, we present Trajectron++, a modular, graph-structured recurrent model that forecasts the trajectories of a general number of agents with distinct semantic classes while incorporating heterogeneous data (e.g. semantic maps and camera images).
After revision:  Towards this end, we present Trajectron++, a modular, graph-structured recurrent model that forecasts the trajectories of a general number of diverse agents while incorporating agent dynamics and heterogeneous data (e.g. semantic maps and camera images).