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.
Collabora- tive loco-manipulation for pick-and-place tasks with dynamic reward curriculum
3 Pith papers cite this work. Polarity classification is still indexing.
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PAINT lets legged robots infer partner intent from proprioception alone and perform stable cooperative transport without force-torque sensors or payload tracking.
A CBF-augmented NMPC framework for two quadrupeds models the robot-payload system as a DAE and enforces collision avoidance in hardware tests under uncertainty.
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.
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Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots
A CBF-augmented NMPC framework for two quadrupeds models the robot-payload system as a DAE and enforces collision avoidance in hardware tests under uncertainty.