Flow-ERD: Agent-type Aware Flow Matching with Entropy-Regularized Distillation for Diverse Traffic Simulation

arXiv:2607.06957v1 Announce Type: new 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-speci...