A Implementation details

We introduce how to compare baselines with our proposed method in Table 1 and 2. Since all MOE [ Therefore, our aim is to calculate the third term. We show the analytical solution for the KL divergence of two multivariate Gaussian distributions. We will further optimize our method according to these failure cases in our future work. The ground-truth future trajectories are shown in orange color. In addition, we also draw the predicted unobserved trajectories (blue) by our BCDiff and ground-truth (cyan).