{"ID":6138062,"CreatedAt":"2026-07-09T01:07:32.349475501Z","UpdatedAt":"2026-07-14T02:54:43.516908796Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.06957","arxiv_id":"2607.06957","title":"Flow-ERD: Agent-type Aware Flow Matching with Entropy-Regularized Distillation for Diverse Traffic Simulation","abstract":"Realistic and diverse traffic simulation is essential to autonomous driving development. Yet prevailing benchmarks predominantly reward realism, and recent methods have optimized accordingly, leaving diversity underexplored. We introduce \\textbf{Flow-ERD}, a multi-agent simulator that pursues realism and diversity jointly. Its backbone, \\textbf{Agent-Type Aware Flow Matching} (AFM), couples flow matching's multi-modal expressiveness with type-specific kinematic execution. It preserves fine-grained diversity while keeping motions consistent with each agent type. A second stage, \\textbf{Entropy-Regularized Distillation} (ERD), fine-tunes the closed-loop rollout distribution with an entropy-regularized reverse-KL objective. This mitigates covariate shift while explicitly preventing collapse onto high-density modes. We evaluate Flow-ERD with a log-free diversity metric alongside standard realism scores. Flow-ERD ranks first on the WOSAC test benchmark and dominates the realism--diversity Pareto front among reproducible baselines. Our project page is available \\href{https://seulbinhwang.github.io/flow-erd-project-page/}{here}.","short_abstract":"Realistic and diverse traffic simulation is essential to autonomous driving development. Yet prevailing benchmarks predominantly reward realism, and recent methods have optimized accordingly, leaving diversity underexplored. We introduce \\textbf{Flow-ERD}, a multi-agent simulator that pursues realism and diversity join...","url_abs":"https://arxiv.org/abs/2607.06957","url_pdf":"https://arxiv.org/pdf/2607.06957v1","authors":"[\"Seulbin Hwang\",\"Kiyoung Om\",\"Daejung Kim\",\"Jinhan Lee\"]","published":"2026-07-08T03:32:36Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.LG\"]","methods":"[]","has_code":false}