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\begin{document}
\begin{tikzpicture}[font=\sffamily\scriptsize,>=Latex]
\node[anchor=west,font=\sffamily\scriptsize\bfseries,text=navy] at (0,2.48)
 {Predict the invisible wearer's future activity};
\draw[draw=navy,fill=light,rounded corners=2pt] (0,1.25) rectangle (2.55,1.95);
\node[align=center,text=navy] at (1.275,1.60)
 {camera + mixed audio\\visible people, unseen wearer};
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 (2.65,1.60)--(3.25,1.60);
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 {decision $t_n$};
\draw[draw=orange,fill=warm,rounded corners=2pt] (4.02,1.25) rectangle (7.6,1.95);
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 {10 future states, every 0.2 s\\background / wearer / others};
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\node[font=\sffamily\tiny,text=navy] at (3.27,.36) {$t_n$};
\node[font=\sffamily\tiny,text=navy] at (4.0,.36) {$+.2$ s};
\node[font=\sffamily\tiny,text=navy] at (7.55,.36) {$+2.0$ s};
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 {ENTRY-like: wearer silent $\to$ active};
\node[anchor=west,font=\sffamily\tiny,text=navy] at (4.0,.02)
 {YIELD-like: wearer active $\to$ silent};
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\end{document}