Flow-Opt combines a flow-matching DiT model with a custom differentiable safety filter and learned initialization to enable fast centralized trajectory optimization for tens of robots.
Learning sampling distribution and safety filter for autonomous driving with vq-vae and differentiable optimization
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Flow-Opt: Scalable Centralized Multi-Robot Trajectory Optimization with Flow Matching and Differentiable Optimization
Flow-Opt combines a flow-matching DiT model with a custom differentiable safety filter and learned initialization to enable fast centralized trajectory optimization for tens of robots.