Before revision:  In particular, we learn a diverse joint distribution over multi-agent future trajectories in a traffic scene that allows us to cover a wide range of future modes with high sample efficiency while leveraging the expressive power of generative models.
After revision:  In particular, we learn a diverse joint distribution over multi-agent future trajectories in a traffic scene that covers a wide range of future modes with high sample efficiency while leveraging the expressive power of generative models.