{"paper":{"title":"HCLM: A Hierarchical Framework for Cooperative Loco-Manipulation with Dual Quadrupeds","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chen Le, Jincheng Yu, Qixuan Li, Xinlei Chen","submitted_at":"2026-05-17T07:23:03Z","abstract_excerpt":"We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation across floating bases is highly challenging due to the conflicting demands of spatial coordination, robust locomotion, and closed-chain physical interactions. To resolve this, our architecture systematically decouples high-level collaborative reasoning from low-level robust motion execution. At the high level, a centralized Joint Diffusion Policy leverages an SE(3)-invariant task-space representation to learn coordinate"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.17300","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.17300/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"claim_evidence","ran_at":"2026-05-19T22:01:57.803678Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T21:33:23.760819Z","status":"skipped","version":"1.0.0","findings_count":0}],"snapshot_sha256":"955bb3bdca6b1e1c4f5b50144d4e6577edfc2507f8e68156112b4856401dc9d0"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}