This video contains 8 qualitative comparison results.

For each comparison result:
left - ped-sgan policy
mid - group-auto policy
right - laser-group-auto policy with simulated laser scans

Comparison results in chronological order:
0:00 Offline - Flow scenario - 1
0:22 Offline - Flow scenario - 2
0:47 Offline - Cross scenario - 1
1:02 Offline - Cross scenario - 2
1:16 Online - Flow scenario - 1
1:27 Online - Flow scenario - 2
1:42 Online - Cross scenario - 1
1:47 Online - Cross scenario - 2