Question about bezier curve

[ChengkaiYang]

Hi @MasterIzumi
Congratulations for your excellent work! But I'm confused with the efficiency of bezier curve module. As far as I know, utilizing Transformer Decoder to predict future x,y directly may bring better accuracy since some ground truth trajectory may not fit bezier curve. In your paper, you said bezier curve will bring more smoothing into prediction, how to measure 'smoothing'? Looking forward for your reply!