DiffPF: Differentiable Particle Filtering With Generative Sampling via Conditional Diffusion Models

doi:10.1109/LRA.2026.3655302

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DiffPF: Differentiable Particle Filtering With Generative Sampling via Conditional Diffusion Models

2026-01-19

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Ziyu Wan

Lin Zhao

DOI：10.1109/LRA.2026.3655302

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Abstract

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This paper proposes DiffPF, a differentiable particle filter that leverages diffusion models for state estimation in dynamic systems. Unlike conventional differentiable particle filters, which require importance weighting and typically rely on predefined or low-capacity proposal distributions, DiffPF learns a flexible posterior sampler by conditioning a diffusion model on predicted particles and the current observation. This enables accurate, equally-weighted sampling from complex, high-dimensional, and multimodal filtering distributions. We evaluate DiffPF across a range of scenarios, including both unimodal and highly multimodal distributions, and test it on simulated as well as real-world tasks, where it consistently outperforms existing filtering baselines. In particular, DiffPF achieves a 90.3% improvement in estimation accuracy on a highly multimodal global localization benchmark, and a nearly 50% improvement on the real-world robotic manipulation benchmark, compared to state-of-the-art differentiable filters. To the best of our knowledge, DiffPF is the first method to integrate conditional diffusion models into particle filtering, enabling high-quality posterior sampling that produces more informative particles and significantly improves state estimation. The code is available at https://github.com/ZiyuNUS/DiffPF.

Keywords:

Differentiable particle filtering

diffusion models

Bayesian state estimation

visual odometry

generative models