Before revision:  Specifically, a polynomial trajectory sampler is adopted to generate candidate trajectories considering high-level intentions and approximate the partition function in the maximum entropy IRL framework , and an environment model considering interactive behaviors among the ego and surrounding vehicles is built to better estimate the generated trajectories.
After revision:  Specifically, a polynomial trajectory sampler is adopted to generate candidate trajectories considering high-level intentions and approximate the partition function in the maximum entropy IRL framework . An environment model considering interactive behaviors among the ego and surrounding vehicles is built to better estimate the generated trajectories.