Likelihood-Based Diverse Sampling for Trajectory Forecasting
   Yecheng Jason Ma            Jeevana Priya Inala         Dinesh Jayaraman, Osbert Bastani
  University of Pennsylvania          MIT CSAIL              University of Pennsylvania
  jasonyma@seas.upenn.edu         jinala@csail.mit.edu        {dineshj, obastani}@seas.upenn.edu


             Abstract
  Forecasting complex vehicle and pedestrian multi-modal
distributions requires powerful probabilistic approaches.
Normalizing flows (NF)  ...