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Researcher profile

Alexandre Alahi

Alexandre Alahi contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Computer VisionRoboticsArtificial IntelligenceMachine LearningCryptography and Security

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Published work

14 published item(s)

preprint2026arXiv

EverAnimate: Minute-Scale Human Animation via Latent Flow Restoration

We propose EverAnimate, an efficient post-training method for long-horizon animated video generation that preserves visual quality and character identity. Long-form animation remains challenging because highly dynamic human motion must be synthesized against relatively static environments, making chunk-based generation prone to accumulated drift: (i) low-level quality drift, such as progressive degradation of static backgrounds, and (ii) high-level semantic drift, such as inconsistent character identity and view-dependent attributes. To address this issue, EverAnimate restores drifted flow trajectories by anchoring generation to a persistent latent context memory, consisting of two complementary mechanisms. (i) Persistent Latent Propagation maintains a context memory across chunks to propagate identity and motion in latent space while mitigating temporal forgetting. (ii) Restorative Flow Matching introduces an implicit restoration objective during sampling through velocity adjustment, improving within-chunk fidelity. With only lightweight LoRA tuning, EverAnimate outperforms state-of-the-art long-animation methods in both short- and long-horizon settings: at 10 seconds, it improves PSNR/SSIM by 8%/7% and reduces LPIPS/FID by 22%/11%; at 90 seconds, the gains increase to 15%/15% and 32%/27%, respectively.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

MAD: Motion Appearance Decoupling for efficient Driving World Models

Recent video diffusion models generate photorealistic, temporally coherent videos, yet they fall short as reliable world models for autonomous driving, where structured motion and physically consistent interactions are essential. Adapting these generalist video models to driving domains has shown promise but typically requires massive domain-specific data and costly fine-tuning. We propose an efficient adaptation framework that converts generalist video diffusion models into controllable driving world models with minimal supervision. The key idea is to decouple motion learning from appearance synthesis. First, the model is adapted to predict structured motion in a simplified form: videos of skeletonized agents and scene elements, focusing learning on physical and social plausibility. Then, the same backbone is reused to synthesize realistic RGB videos conditioned on these motion sequences, effectively "dressing" the motion with texture and lighting. This two-stage process mirrors a reasoning-rendering paradigm: first infer dynamics, then render appearance. Our experiments show this decoupled approach is exceptionally efficient: adapting SVD, we match prior SOTA models with less than 6% of their compute. Scaling to LTX, our MAD-LTX model outperforms all open-source competitors, and supports a comprehensive suite of text, ego, and object controls. Project page: https://vita-epfl.github.io/MAD-World-Model/

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

Social-Mamba: Socially-Aware Trajectory Forecasting with State-Space Models

Human trajectory forecasting is crucial for safe navigation in crowded environments, requiring models that balance accuracy with computational efficiency. Efficiently modeling social interactions is key to performance in dense crowds. Yet, most recent methods rely on attention mechanisms, which are effective at capturing complex dependencies, but incur quadratic computational costs that scale poorly with the growing number of neighbors. Recently, Selective State-Space Models have provided a linear-time alternative; however, their inherently sequential design is misaligned with the unstructured and dynamic nature of social interactions. To address this challenge, we propose Social-Mamba, a forecasting architecture that reformulates social interactions as structured sequential processes. At its core is the Cycle Mamba block, a novel module that enables continuous bidirectional information flow. Social-Mamba organizes agents on an egocentric grid and introduces social triplet factorization, which decomposes interactions into temporal, egocentric, and goal-centric scans. These are dynamically integrated through a learnable social gate and global scan to generate accurate and efficient trajectory predictions. Extensive experiments on five trajectory forecasting benchmarks show that Social-Mamba achieves state-of-the-art accuracy while offering superior parameter efficiency and computational scalability. Furthermore, embedding Social-Mamba into a flow-matching framework further enhances both accuracy and efficiency, establishing it as a flexible and robust foundation for future trajectory forecasting research. The code is publicly available: https://github.com/vita-epfl/Social-Mamba

0 citations0 reviewsNo code linkedOpen access
preprint2024arXiv

Manipulating Trajectory Prediction with Backdoors

Autonomous vehicles ought to predict the surrounding agents' trajectories to allow safe maneuvers in uncertain and complex traffic situations. As companies increasingly apply trajectory prediction in the real world, security becomes a relevant concern. In this paper, we focus on backdoors - a security threat acknowledged in other fields but so far overlooked for trajectory prediction. To this end, we describe and investigate four triggers that could affect trajectory prediction. We then show that these triggers (for example, a braking vehicle), when correlated with a desired output (for example, a curve) during training, cause the desired output of a state-of-the-art trajectory prediction model. In other words, the model has good benign performance but is vulnerable to backdoors. This is the case even if the trigger maneuver is performed by a non-casual agent behind the target vehicle. As a side-effect, our analysis reveals interesting limitations within trajectory prediction models. Finally, we evaluate a range of defenses against backdoors. While some, like simple offroad checks, do not enable detection for all triggers, clustering is a promising candidate to support manual inspection to find backdoors.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Are socially-aware trajectory prediction models really socially-aware?

Our field has recently witnessed an arms race of neural network-based trajectory predictors. While these predictors are at the core of many applications such as autonomous navigation or pedestrian flow simulations, their adversarial robustness has not been carefully studied. In this paper, we introduce a socially-attended attack to assess the social understanding of prediction models in terms of collision avoidance. An attack is a small yet carefully-crafted perturbations to fail predictors. Technically, we define collision as a failure mode of the output, and propose hard- and soft-attention mechanisms to guide our attack. Thanks to our attack, we shed light on the limitations of the current models in terms of their social understanding. We demonstrate the strengths of our method on the recent trajectory prediction models. Finally, we show that our attack can be employed to increase the social understanding of state-of-the-art models. The code is available online: https://s-attack.github.io/

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Injecting Knowledge in Data-driven Vehicle Trajectory Predictors

Vehicle trajectory prediction tasks have been commonly tackled from two distinct perspectives: either with knowledge-driven methods or more recently with data-driven ones. On the one hand, we can explicitly implement domain-knowledge or physical priors such as anticipating that vehicles will follow the middle of the roads. While this perspective leads to feasible outputs, it has limited performance due to the difficulty to hand-craft complex interactions in urban environments. On the other hand, recent works use data-driven approaches which can learn complex interactions from the data leading to superior performance. However, generalization, \textit{i.e.}, having accurate predictions on unseen data, is an issue leading to unrealistic outputs. In this paper, we propose to learn a "Realistic Residual Block" (RRB), which effectively connects these two perspectives. Our RRB takes any off-the-shelf knowledge-driven model and finds the required residuals to add to the knowledge-aware trajectory. Our proposed method outputs realistic predictions by confining the residual range and taking into account its uncertainty. We also constrain our output with Model Predictive Control (MPC) to satisfy kinematic constraints. Using a publicly available dataset, we show that our method outperforms previous works in terms of accuracy and generalization to new scenes. We will release our code and data split here: https://github.com/vita-epfl/RRB.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Pedestrian 3D Bounding Box Prediction

Safety is still the main issue of autonomous driving, and in order to be globally deployed, they need to predict pedestrians' motions sufficiently in advance. While there is a lot of research on coarse-grained (human center prediction) and fine-grained predictions (human body keypoints prediction), we focus on 3D bounding boxes, which are reasonable estimates of humans without modeling complex motion details for autonomous vehicles. This gives the flexibility to predict in longer horizons in real-world settings. We suggest this new problem and present a simple yet effective model for pedestrians' 3D bounding box prediction. This method follows an encoder-decoder architecture based on recurrent neural networks, and our experiments show its effectiveness in both the synthetic (JTA) and real-world (NuScenes) datasets. The learned representation has useful information to enhance the performance of other tasks, such as action anticipation. Our code is available online: https://github.com/vita-epfl/bounding-box-prediction

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Pedestrian Stop and Go Forecasting with Hybrid Feature Fusion

Forecasting pedestrians' future motions is essential for autonomous driving systems to safely navigate in urban areas. However, existing prediction algorithms often overly rely on past observed trajectories and tend to fail around abrupt dynamic changes, such as when pedestrians suddenly start or stop walking. We suggest that predicting these highly non-linear transitions should form a core component to improve the robustness of motion prediction algorithms. In this paper, we introduce the new task of pedestrian stop and go forecasting. Considering the lack of suitable existing datasets for it, we release TRANS, a benchmark for explicitly studying the stop and go behaviors of pedestrians in urban traffic. We build it from several existing datasets annotated with pedestrians' walking motions, in order to have various scenarios and behaviors. We also propose a novel hybrid model that leverages pedestrian-specific and scene features from several modalities, both video sequences and high-level attributes, and gradually fuses them to integrate multiple levels of context. We evaluate our model and several baselines on TRANS, and set a new benchmark for the community to work on pedestrian stop and go forecasting.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Towards Robust and Adaptive Motion Forecasting: A Causal Representation Perspective

Learning behavioral patterns from observational data has been a de-facto approach to motion forecasting. Yet, the current paradigm suffers from two shortcomings: brittle under distribution shifts and inefficient for knowledge transfer. In this work, we propose to address these challenges from a causal representation perspective. We first introduce a causal formalism of motion forecasting, which casts the problem as a dynamic process with three groups of latent variables, namely invariant variables, style confounders, and spurious features. We then introduce a learning framework that treats each group separately: (i) unlike the common practice mixing datasets collected from different locations, we exploit their subtle distinctions by means of an invariance loss encouraging the model to suppress spurious correlations; (ii) we devise a modular architecture that factorizes the representations of invariant mechanisms and style confounders to approximate a sparse causal graph; (iii) we introduce a style contrastive loss that not only enforces the structure of style representations but also serves as a self-supervisory signal for test-time refinement on the fly. Experiments on synthetic and real datasets show that our proposed method improves the robustness and reusability of learned motion representations, significantly outperforming prior state-of-the-art motion forecasting models for out-of-distribution generalization and low-shot transfer.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Vehicle trajectory prediction works, but not everywhere

Vehicle trajectory prediction is nowadays a fundamental pillar of self-driving cars. Both the industry and research communities have acknowledged the need for such a pillar by providing public benchmarks. While state-of-the-art methods are impressive, i.e., they have no off-road prediction, their generalization to cities outside of the benchmark remains unexplored. In this work, we show that those methods do not generalize to new scenes. We present a method that automatically generates realistic scenes causing state-of-the-art models to go off-road. We frame the problem through the lens of adversarial scene generation. The method is a simple yet effective generative model based on atomic scene generation functions along with physical constraints. Our experiments show that more than 60% of existing scenes from the current benchmarks can be modified in a way to make prediction methods fail (i.e., predicting off-road). We further show that the generated scenes (i) are realistic since they do exist in the real world, and (ii) can be used to make existing models more robust, yielding 30-40 reductions in the off-road rate. The code is available online: https://s-attack.github.io/.

0 citations0 reviewsNo code linkedOpen access
preprint2021arXiv

Human Trajectory Forecasting in Crowds: A Deep Learning Perspective

Since the past few decades, human trajectory forecasting has been a field of active research owing to its numerous real-world applications: evacuation situation analysis, deployment of intelligent transport systems, traffic operations, to name a few. Early works handcrafted this representation based on domain knowledge. However, social interactions in crowded environments are not only diverse but often subtle. Recently, deep learning methods have outperformed their handcrafted counterparts, as they learned about human-human interactions in a more generic data-driven fashion. In this work, we present an in-depth analysis of existing deep learning-based methods for modelling social interactions. We propose two knowledge-based data-driven methods to effectively capture these social interactions. To objectively compare the performance of these interaction-based forecasting models, we develop a large scale interaction-centric benchmark TrajNet++, a significant yet missing component in the field of human trajectory forecasting. We propose novel performance metrics that evaluate the ability of a model to output socially acceptable trajectories. Experiments on TrajNet++ validate the need for our proposed metrics, and our method outperforms competitive baselines on both real-world and synthetic datasets.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Deep Visual Re-Identification with Confidence

Transportation systems often rely on understanding the flow of vehicles or pedestrian. From traffic monitoring at the city scale, to commuters in train terminals, recent progress in sensing technology make it possible to use cameras to better understand the demand, i.e., better track moving agents (e.g., vehicles and pedestrians). Whether the cameras are mounted on drones, vehicles, or fixed in the built environments, they inevitably remain scatter. We need to develop the technology to re-identify the same agents across images captured from non-overlapping field-of-views, referred to as the visual re-identification task. State-of-the-art methods learn a neural network based representation trained with the cross-entropy loss function. We argue that such loss function is not suited for the visual re-identification task hence propose to model confidence in the representation learning framework. We show the impact of our confidence-based learning framework with three methods: label smoothing, confidence penalty, and deep variational information bottleneck. They all show a boost in performance validating our claim. Our contribution is generic to any agent of interest, i.e., vehicles or pedestrians, and outperform highly specialized state-of-the-art methods across 5 datasets. The source code and models are shared towards an open science mission.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Enhancing Discrete Choice Models with Representation Learning

In discrete choice modeling (DCM), model misspecifications may lead to limited predictability and biased parameter estimates. In this paper, we propose a new approach for estimating choice models in which we divide the systematic part of the utility specification into (i) a knowledge-driven part, and (ii) a data-driven one, which learns a new representation from available explanatory variables. Our formulation increases the predictive power of standard DCM without sacrificing their interpretability. We show the effectiveness of our formulation by augmenting the utility specification of the Multinomial Logit (MNL) and the Nested Logit (NL) models with a new non-linear representation arising from a Neural Network (NN), leading to new choice models referred to as the Learning Multinomial Logit (L-MNL) and Learning Nested Logit (L-NL) models. Using multiple publicly available datasets based on revealed and stated preferences, we show that our models outperform the traditional ones, both in terms of predictive performance and accuracy in parameter estimation. All source code of the models are shared to promote open science.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Perceiving Traffic from Aerial Images

Drones or UAVs, equipped with different sensors, have been deployed in many places especially for urban traffic monitoring or last-mile delivery. It provides the ability to control the different aspects of traffic given real-time obeservations, an important pillar for the future of transportation and smart cities. With the increasing use of such machines, many previous state-of-the-art object detectors, who have achieved high performance on front facing cameras, are being used on UAV datasets. When applied to high-resolution aerial images captured from such datasets, they fail to generalize to the wide range of objects' scales. In order to address this limitation, we propose an object detection method called Butterfly Detector that is tailored to detect objects in aerial images. We extend the concept of fields and introduce butterfly fields, a type of composite field that describes the spatial information of output features as well as the scale of the detected object. To overcome occlusion and viewing angle variations that can hinder the localization process, we employ a voting mechanism between related butterfly vectors pointing to the object center. We evaluate our Butterfly Detector on two publicly available UAV datasets (UAVDT and VisDrone2019) and show that it outperforms previous state-of-the-art methods while remaining real-time.

0 citations0 reviewsNo code linkedOpen access