HCLM presents a hierarchical architecture that uses an SE(3)-invariant diffusion policy for coordination and a hybrid whole-body controller with MPC and admittance control for safe closed-chain loco-manipulation on dual quadrupeds.
Multi-quadruped cooperative object transport: Learning decentralized pinch-lift-move
2 Pith papers cite this work. Polarity classification is still indexing.
2
Pith papers citing it
fields
cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
PAINT lets legged robots infer partner intent from proprioception alone and perform stable cooperative transport without force-torque sensors or payload tracking.
citing papers explorer
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HCLM: A Hierarchical Framework for Cooperative Loco-Manipulation with Dual Quadrupeds
HCLM presents a hierarchical architecture that uses an SE(3)-invariant diffusion policy for coordination and a hybrid whole-body controller with MPC and admittance control for safe closed-chain loco-manipulation on dual quadrupeds.
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PAINT: Partner-Agnostic Intent-Aware Cooperative Transport with Legged Robots
PAINT lets legged robots infer partner intent from proprioception alone and perform stable cooperative transport without force-torque sensors or payload tracking.