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.
Motion planning diffusion: Learning and planning of robot motions with diffu- sion models
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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.
- Rectified Schr\"odinger Bridge Matching for Few-Step Visual Navigation