Robotics paper index
Certified Parallel-in-Time Sinkhorn for Dynamic Entropic Optimal Transport
One-line summary
A robotics research paper on Certified Parallel-in-Time Sinkhorn for Dynamic Entropic Optimal Transport.
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Chinese explanation / 中文解读
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Original abstract
Dynamic applications, including optimal-transport Flow Matching, repeatedly solve related entropic optimal transport problems, yet conventional distributed Sinkhorn processes frames sequentially and synchronizes after every iteration. We present TemporalSinkhorn, a parallel-in-time executor that batches future candidates and their repairs without making output accuracy speculative. A centered, row-sharded certificate accepts only a deterministic safe prefix. The remaining candidates share packed Sinkhorn updates; an online projective forgetting rate places audit milestones, while a posteriori residual checks recover from every depth underestimate. Prediction can therefore change work placement but cannot authorize an inaccurate output. On 4 A100 GPUs, a 60-run, five-seed grid at n = 2048 shows that forgetting-guided milestones reduce wall time by 1.15x-1.47x relative to auditing every packed iteration in five statistically resolved regime cells. Against a sequential soft c-transform warm start, temporal execution is 1.42x-3.55x faster across six synthetic streams, with zero marginal-tolerance violations. On Flow Matching minibatch streams, temporal execution is 3.054x-3.632x faster than sequential carry at n = 2048, with no tolerance violations. A separate fixed-kernel test on an RTX 4060 Laptop GPU gives a 4.315x geometric-mean speedup. These are complementary deployment studies rather than a controlled hardware comparison. End-to-end Flow Matching integration, optimized-solver comparisons, and multi-node validation remain open.
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