Purpose:To shorten 4D flow acquisitions by shortening TRs with fast RF pulses and gradient waveforms. Real-time convex optimization is used to generate these gradients waveforms on the scanner. Theory and Methods: RF and slab-select waveforms were shortened with a minimum phase SLR excitation and the time-optimal variable-rate selective excitation method. Real-time convex optimization was used to shorten bipolar and spoiler gradients by finding the shortest gradient waveforms that satisfied constraints on scan parameters, gradient hardware, M 0 , M 1 , and peripheral nerve stimulation. Waveforms were calculated and TE and/or TR values were compared for a range of scan parameters and compared to a conventional 4D flow sequence. The method was tested in flow phantoms, and in the aorta and neurovasculature of volunteers (N = 10).Additionally, eddy current error was measured in a large phantom. Results: TEs and TRs were shortened by 21-32% and 20-34%, respectively, compared to the conventional sequence over a range of scan parameters. Bland-Altman analysis of 2 flow phantom configurations showed flow rate bias of 0.3 mL/s and limits of agreement (LOA) of [−6.9, 7.5] mL/s for a cardiac phantom and a bias of −0.1 mL/s with LOA = [−0.4, 0.2] mL/s for a neuro phantom. Similar agreement was also seen for flow measurements in volunteers (bias = −1.0 and −0.1 mL/s, LOA = [−34.9, 33.0] and [−0.7, 0.6] mL/s). Measured eddy currents were 39% larger with the CVX + mpVERSE method. Conclusion: The real-time optimized 4D flow gradients and fast slab-selection excitation methods produced up to 34% faster TRs with excellent flow measurement agreement compared to a conventional 4D flow sequence. K E Y W O R D S 4D flow, convex optimization, eddy currents, peripheral nerve stimulation, phase contrast, pulse sequence design 1 | INTRODUCTION Four-dimensional phase-contrast (4D flow) MRI permits the acquisition of volumetric data sets containing time-resolved velocity vector fields enabling both hemodynamic analysis and anatomic examination. These extensive data sets have proven useful for studying and diagnosing a range of cardiovascular diseases, throughout many anatomic territories. 1 214 | LOECHER Et aL.