have difficult with understanding the four types of output

[MandyZhang4869]

Hello, I'm having difficulty understanding the four types of outputs in the paper. I don't quite grasp the difference between the first and second types. Also, I'm unsure whether the output represents deterministic trajectories or a Gaussian distribution. Additionally, are multiple trajectories prioritized based on probabilities? Could you please help clarify?
Looking forward to your reply ！！！ and thank you very much！！！