The videos in this folder depict an episode of the didactic simulation experiment with the planner in the loop. (Sections 6.2 and C.1.2)

The file with "in_planner" in its name shows a trajectory for the unbiased CVAE & risk-sensitive CEM with risk-level 0.95.
It corresponds to Figure 10(a) in the supplementary pdf. In this case, the robot almost collides into the pedestrian near the end.

The file with "in_predictor" in its name shows a trajectory for the RAP with risk-level 0.95 & risk-neutral CEM.
It corresponds to Figure 10(b) in the supplementary pdf. In this case, the robot slows down a bit at around 3 (s) to maintain more distance from the pedestrian near the end.

In both cases, n_samples == 1 prediction sample was drawn from the predictor.
