Linear Quadratic Flow Matching for Ergodic Coverage

This repository contains implementations for the paper "Flow Matching Ergodic Coverage", presented at Robotics: Science and Systems (RSS) 2025.

Please visit the project website for more information.

This repository is under active development, stay tuned for more!

Tutorials

All the tutorials are implemented using jax. We use lqrax to solve the continuous time Riccati equation for the LQ flow matching problem and ott for Sinkhorn divergence.

• [Notebook | Google Colab] 2D coverage using Stein variational gradient flow with the second-order point-mass dynamics
• [Notebook | Google Colab] 2D coverage using Stein variational gradient flow with the differential-drive dynamics
• [Notebook | Google Colab] 2D coverage using Sinkhorn divergence flow with the second-order point-mass dynamics
• [Notebook | Google Colab] 3D coverage using Sinkhorn divergence flow with the 3D aircraft dynamics

Please also check out Ergodic Control Sandbox for implementations of other ergodic control methods.

Copyright and License

The implementations contained herein are copyright (C) 2025 - 2026 by Max M. Sun and Todd Murphey and are distributed under the terms of the GNU General Public License (GPL) version 3 (or later). Please see the LICENSE for more information.

Contact: Max (msun@u.northwestern.edu)