Ablation on U-Net feature maps (Paper Fig. 13)
Input Trajectory
Modified self-attn out
(Our choice)
Self-attn out
Self-attn query
Self-attn key
Self-attn value
Upsample block out
Temporal-attn out
Temporal-attn query
Temporal-attn key
Temporal-attn value
Input Trajectory
Modified self-attn out
(Our choice)
Self-attn out
Self-attn query
Self-attn key
Self-attn value
Upsample block out
Temporal-attn out
Temporal-attn query
Temporal-attn key
Temporal-attn value
Input Trajectory
Modified self-attn out
(Our choice)
Self-attn out
Self-attn query
Self-attn key
Self-attn value
Upsample block out
Temporal-attn out
Temporal-attn query
Temporal-attn key
Temporal-attn value
Input Trajectory
Modified self-attn out
(Our choice)
Self-attn out
Self-attn query
Self-attn key
Self-attn value
Upsample block out
Temporal-attn out
Temporal-attn query
Temporal-attn key
Temporal-attn value
Input Trajectory
Modified self-attn out
(Our choice)
Self-attn out
Self-attn query
Self-attn key
Self-attn value
Upsample block out
Temporal-attn out
Temporal-attn query
Temporal-attn key
Temporal-attn value