Proposes hierarchical MARL framework enforcing safety via constraint manifold at low level with theoretical guarantees and stationary dynamics for stable training and generalization.
arXiv preprint arXiv:2409.12045 , year=
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A structured literature survey of safety mechanisms in long-horizon robotic manipulation organized by intervention timing and strength of supporting evidence.
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Safe and Generalizable Hierarchical Multi-Agent RL via Constraint Manifold Control
Proposes hierarchical MARL framework enforcing safety via constraint manifold at low level with theoretical guarantees and stationary dynamics for stable training and generalization.
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Safe Embodied AI for Long-horizon Tasks: A Cross-layer Analysis of Robotic Manipulation
A structured literature survey of safety mechanisms in long-horizon robotic manipulation organized by intervention timing and strength of supporting evidence.