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). Our model is designed to be tightly integrated with robotic planning and control frameworks;
After 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). Trajectron++ is designed to be tightly integrated with robotic planning and control frameworks;