here we compare MFP directly to PRECOG[A] on their released CARLA data in Tab. 1. MFP significantly outperforms previous SOT A in [A]

We thank the reviewers for valuable feedback and will make the suggested changes. We've included additional experiments to address the C provides additional results on non-vehicle classes (i.e. We also quantitatively evaluated hypothetical inference in Tab. 2. We report new results using the minMSD B, we created a CARLA-based RL env. We compared it with several SOT A model-free methods, demonstrating faster training and leading to a safer or more robust policy. Reviewer 6: We will release code in the near future and make the suggested clarifications.