def modelBaseline_forward_pass(img_t, ImageEncModel, PathDecModel, training_state=False, **kwargs):
    """
    Forward pass of the lyft basline. 

    Args:
        img_t (tf.tensor / np.array): Tensor with input map batch, multi channel image shape: [batch, x, y, ch].
        ImageEncModel (keras.model): Keras model for image encoding.
        PathDecModel (keras.model): Keras model for path decoding/generation.
        training_state (np.bool): True -> Training, False -> Inference.
    Returns:
        out_list (tf.tensor): Predicted path points.
    """

    # Process input image
    img_feats = ImageEncModel(img_t, training = training_state)  
    # Get Path
    out_list = PathDecModel(img_feats, training = training_state)

    return out_list