SAGE: Safety-Aligned Gradient Enforcement for Human--Robot Collaboration

arXiv:2609.21130 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Terminology

• Actor — 17× in this paper · explained in 3 episodes
• Reinforcement Learning — 11× in this paper · explained in 4 episodes
• Consistency — 8× in this paper · explained in 3 episodes
• Alignment — 3× in this paper · explained in 1 episode
• Ablation — 2× in this paper · explained in 1 episode
• Trace — 2× in this paper · explained in 2 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Credit assignment — 1× in this paper · explained in 3 episodes
• Multi-Agent Reinforcement Learning (MARL) — 1× in this paper · explained in 4 episodes
• Multi-Agent System — 1× in this paper · explained in 5 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Transfer Learning — 1× in this paper · explained in 10 episodes

Sources

• Interaction-Aware Whole-Body Control for Compliant Object Transport
• HALO: Learning Human-Robot Collaboration via Heterogeneous-Agent Lyapunov Policy Optimization
• Optimizing Interpretable Decision Tree Policies for Reinforcement Learning

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