Query Regarding Ego-Robot Trajectory Inclusion and Learning Interactions with Surrounding Agents

[MandyZhang4869]

Hello, I have a question regarding the training process described in your paper. I'm seeking clarification on whether the training data includes the trajectory of the ego-robot and how the model learns the interactions between the ego-robot and surrounding agents. Any insights into these aspects would be greatly appreciated. Thank you!
Your perspective is quite novel to me, and I find it somewhat challenging to grasp, but I'm very interested. Thank you！！！