mlsanityData to 14 Oct 2026

TrajRS: Towards Certified Robustness in Pedestrian Trajectory Prediction

arXiv 2606.28716 ↗First posted 27 Jun 2026cs.AIcited by 0

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Abstract (arXiv)

The robustness of trajectory prediction models is crucial for developing safe autonomous driving systems. Adversarial attacks on trajectory prediction can significantly impair the accuracy of predicted trajectories, leading to hazardous driving behaviors. While heuristic defense strategies have been implemented to enhance the robustness of trajectory prediction models, these measures often fail against more sophisticated, targeted adversarial attacks. Hence, there is a pressing need to establish verifiable safety assurances for trajectory prediction models. In this paper, we extend the traditional Randomized Smoothing framework to "TrajRS", which provides a certified robust radius for smoothed trajectory predictors. We clarify and expand the formal definitions of robustness in trajectory prediction and tailor the practical TrajRS scheme specifically to "robustness for the optimal prediction" and "robustness for all possible predictions". An extensive set of experiments demonstrates that TrajRS effectively achieves robustness certification for all smoothed pedestrian trajectory predictors in this work.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 25 of its 39 references that are in the map. First posted on arXiv 27 Jun 2026.

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25 of 39 references.

References · 25

  1. 2017Towards Deep Learning Models Resistant to Adversarial Attackscited by 6,415
  2. 2019Certified Adversarial Robustness via Randomized Smoothingcited by 1,340
  3. 2018Obfuscated Gradients Give a False Sense of Security: Circumventing Defenses to Adversarial Examplescited by 1,268
  4. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 690
  5. 2018Certified Robustness to Adversarial Examples with Differential Privacycited by 468
  6. 2021AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecastingcited by 331
  7. 2020Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Predictioncited by 325
  8. 2018SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraintscited by 298
  9. 2019CoverNet: Multimodal Behavior Prediction using Trajectory Setscited by 259
  10. 2022Stochastic Trajectory Prediction via Motion Indeterminacy Diffusioncited by 185
  11. 2018Certified Adversarial Robustness with Additive Noisecited by 180
  12. 2022On Adversarial Robustness of Trajectory Prediction for Autonomous Vehiclescited by 90
13 more
  1. 2022Remember Intentions: Retrospective-Memory-based Trajectory Predictioncited by 86
  2. 2019Conditional Generative Neural System for Probabilistic Trajectory Predictioncited by 76
  3. 2022AdvDO: Realistic Adversarial Attacks for Trajectory Predictioncited by 49
  4. 2022Non-Probability Sampling Network for Stochastic Human Trajectory Predictioncited by 46
  5. 2022Enhancing Adversarial Training with Second-Order Statistics of Weightscited by 42
  6. 2025MoFlow: One-Step Flow Matching for Human Trajectory Forecasting via Implicit Maximum Likelihood Estimation based Distillationcited by 31
  7. 2022Semi-supervised Semantics-guided Adversarial Training for Trajectory Predictioncited by 12
  8. 2025Multi-modal Knowledge Distillation-based Human Trajectory Forecastingcited by 10
  9. 2023TrajPAC: Towards Robustness Verification of Pedestrian Trajectory Prediction Modelscited by 8
  10. 2025SocialMOIF: Multi-Order Intention Fusion for Pedestrian Trajectory Predictioncited by 7
  11. 2024Certified Human Trajectory Predictioncited by 6
  12. 2025CluCERT: Certifying LLM Robustness via Clustering-Guided Denoising Smoothingcited by 6
  13. 2025Reconcile Certified Robustness and Accuracy for DNN-based Smoothed Majority Vote Classifiercited by 2

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