# Joint Pedestrian Trajectory Prediction through Posterior Sampling

arXiv: https://arxiv.org/abs/2404.00237 · HTML: https://mlsanity.com/paper/2404.00237/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- Placed in Diffusion and flow policies for robotics, one of 14 directions in Diffusion models.
- Builds on 30 of its 39 references that are in the map.
- First posted on arXiv 30 Mar 2024.

## Placed in

- Diffusion models / [Diffusion and flow policies for robotics](https://mlsanity.com/diffusion/diffusion-and-flow-policies-for-robotics/)

## Builds on (most cited first, 30 of 30)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Score-Based Generative Modeling through Stochastic Differential Equations](https://mlsanity.com/paper/2011.13456/) (2020)
- [Graph Attention Networks](https://mlsanity.com/paper/1710.10903/) (2017)
- [Elucidating the Design Space of Diffusion-Based Generative Models](https://mlsanity.com/paper/2206.00364/) (2022)
- [RePaint: Inpainting using Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2201.09865/) (2022)
- [Diffusion Posterior Sampling for General Noisy Inverse Problems](https://mlsanity.com/paper/2209.14687/) (2022)
- [Planning with Diffusion for Flexible Behavior Synthesis](https://mlsanity.com/paper/2205.09991/) (2022)
- [Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networks](https://mlsanity.com/paper/1803.10892/) (2018)
- [AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecasting](https://mlsanity.com/paper/2103.14023/) (2021)
- [Efficient Diffusion Training via Min-SNR Weighting Strategy](https://mlsanity.com/paper/2303.09556/) (2023)
- [It Is Not the Journey but the Destination: Endpoint Conditioned Trajectory Prediction](https://mlsanity.com/paper/2004.02025/) (2020)
- [Diffusion models as plug-and-play priors](https://mlsanity.com/paper/2206.09012/) (2022)
- [MotionDiffuser: Controllable Multi-Agent Motion Prediction using Diffusion](https://mlsanity.com/paper/2306.03083/) (2023)
- [Guided Conditional Diffusion for Controllable Traffic Simulation](https://mlsanity.com/paper/2210.17366/) (2022)
- [Stochastic Trajectory Prediction via Motion Indeterminacy Diffusion](https://mlsanity.com/paper/2203.13777/) (2022)
- [Leapfrog Diffusion Model for Stochastic Trajectory Prediction](https://mlsanity.com/paper/2303.10895/) (2023)
- [Remember Intentions: Retrospective-Memory-based Trajectory Prediction](https://mlsanity.com/paper/2203.11474/) (2022)
- [Human Trajectory Prediction via Neural Social Physics](https://mlsanity.com/paper/2207.10435/) (2022)
- [Stepwise Goal-Driven Networks for Trajectory Prediction](https://mlsanity.com/paper/2103.14107/) (2021)
- [Uncovering the Missing Pattern: Unified Framework Towards Trajectory Imputation and Prediction](https://mlsanity.com/paper/2303.16005/) (2023)
- [View Vertically: A Hierarchical Network for Trajectory Prediction via Fourier Spectrums](https://mlsanity.com/paper/2110.07288/) (2021)
- [EigenTrajectory: Low-Rank Descriptors for Multi-Modal Trajectory Forecasting](https://mlsanity.com/paper/2307.09306/) (2023)
- [Pedestrian Trajectory Prediction with Convolutional Neural Networks](https://mlsanity.com/paper/2010.05796/) (2020)
- [Robust Trajectory Prediction against Adversarial Attacks](https://mlsanity.com/paper/2208.00094/) (2022)
- [Joint Metrics Matter: A Better Standard for Trajectory Forecasting](https://mlsanity.com/paper/2305.06292/) (2023)
- [Social Physics Informed Diffusion Model for Crowd Simulation](https://mlsanity.com/paper/2402.06680/) (2024)
- [Q-SLAM: Quadric Representations for Monocular SLAM](https://mlsanity.com/paper/2403.08125/) (2024)
- [PNAS-MOT: Multi-Modal Object Tracking with Pareto Neural Architecture Search](https://mlsanity.com/paper/2403.15712/) (2024)
- [PECNet: A Deep Multi-Label Segmentation Network for Eosinophilic Esophagitis Biopsy Diagnostics](https://mlsanity.com/paper/2103.02015/) (2021)

## Built on by (most cited first, 10 of 10)

- [Marigold-DC: Zero-Shot Monocular Depth Completion with Guided Diffusion](https://mlsanity.com/paper/2412.13389/) (2024)
- [Optimizing Diffusion Models for Joint Trajectory Prediction and Controllable Generation](https://mlsanity.com/paper/2408.00766/) (2024)
- [Spec-LLaVA: Accelerating Vision-Language Models with Dynamic Tree-Based Speculative Decoding](https://mlsanity.com/paper/2509.11961/) (2025)
- [UCloudNet: A Residual U-Net with Deep Supervision for Cloud Image Segmentation](https://mlsanity.com/paper/2501.06440/) (2025)
- [Controllable Traffic Simulation through LLM-Guided Hierarchical Reasoning and Refinement](https://mlsanity.com/paper/2409.15135/) (2024)
- [Composition Vision-Language Understanding via Segment and Depth Anything Model](https://mlsanity.com/paper/2406.18591/) (2024)
- [Recent Advances in Multi-Agent Human Trajectory Prediction: A Comprehensive Review](https://mlsanity.com/paper/2506.14831/) (2025)
- [TrafficKAN-GCN: Graph Convolutional-based Kolmogorov-Arnold Network for Traffic Flow Optimization](https://mlsanity.com/paper/2503.03276/) (2025)
- [Diverse Yet Consistent: Context-Guided Diffusion with Energy-Based Joint Refinement for Multi-Agent Motion Prediction](https://mlsanity.com/paper/2605.22017/) (2026)
- [PedestrianDiffusion: Multimodal Generative Denoising and Dense State Estimation for Inertial Navigation](https://mlsanity.com/paper/2607.03349/) (2026)

## Abstract (arXiv)

Joint pedestrian trajectory prediction has long grappled with the inherent unpredictability of human behaviors. Recent investigations employing variants of conditional diffusion models in trajectory prediction have exhibited notable success. Nevertheless, the heavy dependence on accurate historical data results in their vulnerability to noise disturbances and data incompleteness. To improve the robustness and reliability, we introduce the Guided Full Trajectory Diffuser (GFTD), a novel diffusion model framework that captures the joint full (historical and future) trajectory distribution. By learning from the full trajectory, GFTD can recover the noisy and missing data, hence improving the robustness. In addition, GFTD can adapt to data imperfections without additional training requirements, leveraging posterior sampling for reliable prediction and controllable generation. Our approach not only simplifies the prediction process but also enhances generalizability in scenarios with noise and incomplete inputs. Through rigorous experimental evaluation, GFTD exhibits superior performance in both trajectory prediction and controllable generation.