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S-attack:
A library for evaluating trajectory prediction models and making them robust

This repo contains three research projects to assess the trajectory prediction models, Scene-attack which evaluates the scene-understanding of models, Social-attack which evaluates social understanding of them, and Certified which introduces a certified performance.

Certified Human Trajectory Prediction, CVPR 2025
M. Bahari, S. Saadatnejad, A. Askari Farsangi, S. Moosavi-Dezfooli, A. Alahi
Website                 Paper                 Citation                 Code

Vehicle trajectory prediction works, but not everywhere, CVPR 2022
M. Bahari, S. Saadatnejad, A. Rahimi, M. Shaverdikondori, A. Shahidzadeh, S. Moosavi-Dezfooli, A. Alahi
Website                 Paper                 Citation                 Code

Are socially-aware trajectory prediction models really socially-aware?, TR_C 2022
S. Saadatnejad, M. Bahari, P. Khorsandi, M. Saneian, S. Moosavi-Dezfooli, A. Alahi
Website                 Paper                 Citation                 Code

For citation:

@InProceedings{bahari2025certified,
    author    = {Bahari, Mohammadhossein and Saadatnejad, Saeed and Askari Farsangi, Amirhossein and Moosavi-Dezfooli, Seyed-Mohsen and Alahi, Alexandre},
    title     = {Certified Human Trajectory Prediction},
    booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
    year      = {2025},
}

@InProceedings{bahari2022sattack,
    author    = {Bahari, Mohammadhossein and Saadatnejad, Saeed and Rahimi, Ahmad and Shaverdikondori, Mohammad and Shahidzadeh, Amir-Hossein and Moosavi-Dezfooli, Seyed-Mohsen and Alahi, Alexandre},
    title     = {Vehicle trajectory prediction works, but not everywhere},
    booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
    year      = {2022},
}

@article{saadatnejad2022sattack,
     author = {Saeed Saadatnejad and Mohammadhossein Bahari and Pedram Khorsandi and Mohammad Saneian and Seyed-Mohsen Moosavi-Dezfooli and Alexandre Alahi},
     title = {Are socially-aware trajectory prediction models really socially-aware?},
     journal = {Transportation Research Part C: Emerging Technologies},
     volume = {141},
     pages = {103705},
     year = {2022},
     issn = {0968-090X},
     doi = {https://doi.org/10.1016/j.trc.2022.103705},
}