A flow-matching neural network trained only on urban simulator data produces direct acceleration-curvature control trajectories and maintains closed-loop stability on out-of-distribution highway and unseen urban scenarios.
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Learning Direct Control Policies with Flow Matching for Autonomous Driving
A flow-matching neural network trained only on urban simulator data produces direct acceleration-curvature control trajectories and maintains closed-loop stability on out-of-distribution highway and unseen urban scenarios.