# JPPD: Joint Prediction_Planning Diffusion with Differentiable Safety Guidance for Dynamic Obstacle Avoidance in Intelligent Transportation Systems

arXiv: https://arxiv.org/abs/2606.20686 · HTML: https://mlsanity.com/paper/2606.20686/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 20 of its 40 references that are in the map.
- First posted on arXiv 14 Jun 2026.

## Builds on (most cited first, 20 of 20)

- [Flow Matching for Generative Modeling](https://mlsanity.com/paper/2210.02747/) (2022)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [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)
- [Stochastic Trajectory Prediction via Motion Indeterminacy Diffusion](https://mlsanity.com/paper/2203.13777/) (2022)
- [Crowd-Robot Interaction: Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning](https://mlsanity.com/paper/1809.08835/) (2018)
- [Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models](https://mlsanity.com/paper/2308.01557/) (2023)
- [Trace and Pace: Controllable Pedestrian Animation via Guided Trajectory Diffusion](https://mlsanity.com/paper/2304.01893/) (2023)
- [Socially Aware Motion Planning with Deep Reinforcement Learning](https://mlsanity.com/paper/1703.08862/) (2017)
- [Leapfrog Diffusion Model for Stochastic Trajectory Prediction](https://mlsanity.com/paper/2303.10895/) (2023)
- [Motion Planning Among Dynamic, Decision-Making Agents with Deep Reinforcement Learning](https://mlsanity.com/paper/1805.01956/) (2018)
- [SafeDiffuser: Safe Planning with Diffusion Probabilistic Models](https://mlsanity.com/paper/2306.00148/) (2023)
- [CoBL-Diffusion: Diffusion-Based Conditional Robot Planning in Dynamic Environments Using Control Barrier and Lyapunov Functions](https://mlsanity.com/paper/2406.05309/) (2024)
- [Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments](https://mlsanity.com/paper/2010.10190/) (2020)
- [SICNav: Safe and Interactive Crowd Navigation using Model Predictive Control and Bilevel Optimization](https://mlsanity.com/paper/2310.10982/) (2023)
- [Efficient Trajectory Forecasting and Generation with Conditional Flow Matching](https://mlsanity.com/paper/2403.10809/) (2024)
- [SICNav-Diffusion: Safe and Interactive Crowd Navigation with Diffusion Trajectory Predictions](https://mlsanity.com/paper/2503.08858/) (2025)
- [Risk-Averse Trajectory Optimization via Sample Average Approximation](https://mlsanity.com/paper/2307.03167/) (2023)
- [TrajDiffuse: A Conditional Diffusion Model for Environment-Aware Trajectory Prediction](https://mlsanity.com/paper/2410.10804/) (2024)

## Abstract (arXiv)

Shared-space transportation operation requires low-speed autonomous platforms to navigate safely and efficiently among pedestrians, service robots, micromobility users, carts, and other road users. Most existing systems decompose this problem into trajectory prediction followed by motion planning, which creates one-way information flow: predicted participant futures influence the robot plan, but the selected robot plan cannot influence the predicted multi-agent evolution. This paper presents a joint prediction-planning diffusion framework that treats participant prediction and robot planning as a single conditional trajectory generation problem, where the model samples the future robot trajectory and all participant trajectories from one coupled distribution using a causal Transformer with cross-trajectory attention. To replace heuristic repulsive post-processing, the framework introduces differentiable safety potential guidance, a time-varying occupancy-probability potential whose gradient directly guides the joint sampler, and conditional flow matching is used to reduce inference steps while preserving multimodal trajectory diversity. The evaluation emphasizes shared-space operational effects, including near misses, blockage time, induced participant deviation, hard-braking events, and embedded latency, rather than treating average displacement error and final displacement error as the main result. Experiments in scenario-grounded simulation, naturalistic pedestrian replay, Isaac Sim validation, and ROS/Orin deployment show that joint sampling improves tail safety and runtime efficiency over a separated prediction-then-planning baseline.