Before revision:  A polynomial trajectory sampler is adopted to generate feasible trajectories and approximate the partition function in the maximum entropy IRL framework, and a dynamic and interactive environment is built upon the static driving dataset to estimate the generated trajectories considering the mutual dependency of agents' actions .
After revision:  A polynomial trajectory sampler is adopted to generate feasible trajectories 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 considering the mutual dependency of agents' actions .