mlsanityData to 7 Oct 2026

Certified Human Trajectory Prediction

arXiv 2403.13778 ↗First posted 20 Mar 2024cs.CV cs.ROcited by 6

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Abstract (arXiv)

Predicting human trajectories is essential for the safe operation of autonomous vehicles, yet current data-driven models often lack robustness in case of noisy inputs such as adversarial examples or imperfect observations. Although some trajectory prediction methods have been developed to provide empirical robustness, these methods are heuristic and do not offer guaranteed robustness. In this work, we propose a certification approach tailored for trajectory prediction that provides guaranteed robustness. To this end, we address the unique challenges associated with trajectory prediction, such as unbounded outputs and multi-modality. To mitigate the inherent performance drop through certification, we propose a diffusion-based trajectory denoiser and integrate it into our method. Moreover, we introduce new certified performance metrics to reliably measure the trajectory prediction performance. Through comprehensive experiments, we demonstrate the accuracy and robustness of the certified predictors and highlight their advantages over the non-certified ones. The code is available online: https://s-attack.github.io/.

Key facts. Cited by 6 papers in the map (data through 7 Oct 2026). Builds on 51 of its 69 references that are in the map. First posted on arXiv 20 Mar 2024.

Builds on

51 of 69 references.

References · 51

  1. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
  2. 2021High-Resolution Image Synthesis with Latent Diffusion Modelscited by 18,694
  3. 2017Towards Deep Learning Models Resistant to Adversarial Attackscited by 6,326
  4. 2023Adding Conditional Control to Text-to-Image Diffusion Modelscited by 5,466
  5. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  6. 2022An Image is Worth One Word: Personalizing Text-to-Image Generation using Textual Inversioncited by 2,231
  7. 2019Certified Adversarial Robustness via Randomized Smoothingcited by 1,324
  8. 2018Obfuscated Gradients Give a False Sense of Security: Circumventing Defenses to Adversarial Examplescited by 1,259
  9. 2020Center-based 3D Object Detection and Trackingcited by 1,143
  10. 2019Aleatoric and Epistemic Uncertainty in Machine Learning: An Introduction to Concepts and Methodscited by 903
  11. 2023Text2Video-Zero: Text-to-Image Diffusion Models are Zero-Shot Video Generatorscited by 666
  12. 2017Provable defenses against adversarial examples via the convex outer adversarial polytopecited by 564
38 more
  1. 2017Adversarial Examples Are Not Easily Detected: Bypassing Ten Detection Methodscited by 542
  2. 2023Denoising Diffusion Models for Plug-and-Play Image Restorationcited by 335
  3. 2020Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Predictioncited by 324
  4. 2016Safety Verification of Deep Neural Networkscited by 262
  5. 2017Formal Verification of Piece-Wise Linear Feed-Forward Neural Networkscited by 241
  6. 2018Adversarial Risk and the Dangers of Evaluating Against Weak Attackscited by 221
  7. 2022Stochastic Trajectory Prediction via Motion Indeterminacy Diffusioncited by 184
  8. 2020Transformer Networks for Trajectory Forecastingcited by 180
  9. 2018Crowd-Robot Interaction: Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learningcited by 162
  10. 2017Towards Robust Neural Networks via Random Self-ensemblecited by 158
  11. 2021Latent Variable Sequential Set Transformers For Joint Multi-Agent Motion Predictioncited by 131
  12. 2022(Certified!!) Adversarial Robustness for Free!cited by 130
  13. 2023Leapfrog Diffusion Model for Stochastic Trajectory Predictioncited by 129
  14. 2020Human Trajectory Forecasting in Crowds: A Deep Learning Perspectivecited by 128
  15. 2018A Dual Approach to Scalable Verification of Deep Networkscited by 125
  16. 2023EqMotion: Equivariant Multi-agent Motion Prediction with Invariant Interaction Reasoningcited by 97
  17. 2022On Adversarial Robustness of Trajectory Prediction for Autonomous Vehiclescited by 89
  18. 2023DiffTraj: Generating GPS Trajectory with Diffusion Probabilistic Modelcited by 64
  19. 2020Social NCE: Contrastive Learning of Socially-aware Motion Representationscited by 58
  20. 2017Mitigating Evasion Attacks to Deep Neural Networks via Region-based Classificationcited by 56
  21. 2022AdvDO: Realistic Adversarial Attacks for Trajectory Predictioncited by 48
  22. 2020Detection as Regression: Certified Object Detection by Median Smoothingcited by 47
  23. 2021Interpretable Social Anchors for Human Trajectory Forecasting in Crowdscited by 44
  24. 2021Vehicle trajectory prediction works, but not everywherecited by 39
  25. 2021Spectral Temporal Graph Neural Network for Trajectory Predictioncited by 36
  26. 2022A generic diffusion-based approach for 3D human pose prediction in the wildcited by 33
  27. 2023Social-Transmotion: Promptable Human Trajectory Predictioncited by 33
  28. 2021Are socially-aware trajectory prediction models really socially-aware?cited by 32
  29. 2017Context-Aware Trajectory Predictioncited by 31
  30. 2023Towards Motion Forecasting with Real-World Perception Inputs: Are End-to-End Approaches Competitive?cited by 22
  31. 2020Pedestrian Trajectory Prediction with Convolutional Neural Networkscited by 21
  32. 2018An Evaluation of Trajectory Prediction Approaches and Notes on the TrajNet Benchmarkcited by 16
  33. 2022Robust Trajectory Prediction against Adversarial Attackscited by 16
  34. 2022Semi-supervised Semantics-guided Adversarial Training for Trajectory Predictioncited by 12
  35. 2022Targeted Adversarial Attacks against Neural Network Trajectory Predictorscited by 11
  36. 2023Toward Reliable Human Pose Forecasting with Uncertaintycited by 11
  37. 2023Real-World Denoising via Diffusion Modelcited by 10
  38. 2022Under the Hood of Transformer Networks for Trajectory Forecastingcited by 8

50 most cited of 51 All 51 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 1; 2025: 1; 2026: 4.

6 papers.

  1. 2024Multi-Transmotion: Pre-trained Model for Human Motion Predictioncited by 21
  2. 2025HHI-Assist: A Dataset and Benchmark of Human-Human Interaction in Physical Assistance Scenariocited by 1
  3. 2026Unified Prediction and Planning via Conflict-Aware Disjoint Parameter Trainingcited by 1
  4. 2026SceneSelect: Selective Learning for Trajectory Scene Classification and Expert Schedulingcited by 0
  5. 2026TrajRS: Towards Certified Robustness in Pedestrian Trajectory Predictioncited by 0
  6. 2026Ego-Human Motion Prediction with 3D-Aware LLMcited by 0