The paper presents a method to infer safety constraints from observed safety-filtered actions and couples it with decentralized planning to ensure safety in multi-agent coordination when activation distances are large.
Coordination and decentralized cooperation of multiple mobile manipulators
2 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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2026 2verdicts
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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.
citing papers explorer
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Inverse Safety Filtering: Inferring Constraints from Safety Filters for Decentralized Coordination
The paper presents a method to infer safety constraints from observed safety-filtered actions and couples it with decentralized planning to ensure safety in multi-agent coordination when activation distances are large.
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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.