Glossary

Definitions for terms used throughout the CONCERTO and CHAMBER documentation. The canonical glossary lives in PROJECT_STATUS.md §2 (founder's local planning kit).

AoI — Age of Information. A timestamp metric for the staleness of communicated state. See chamber.comm.

CBF — Control Barrier Function. A Lyapunov-like certificate for forward-invariant safe sets. See concerto.safety.

CHAMBER — Contact-rich Heterogeneous Ad-hoc Manipulation Benchmark for Embodied Robots. The benchmark suite that wraps ManiSkill v3.

CONCERTO — Contact-rich cOoperation with Novel CooperaTors under Embodiment heteROgeneity. The method: safety stack + ego-AHT training.

ego-AHT — Ego-centric Ad-Hoc Teamwork. Training paradigm where a single ego agent learns to cooperate with heterogeneous, opaque partners.

FCP — Fictitious Co-Play. Partner-population training strategy. See ADR-009.

HRS — Heterogeneity Robustness Score. The composite evaluation metric. See ADR-008.

HetMR-AHT — Heterogeneous Multi-Robot Ad-Hoc Teamwork.

MEP — Maximum Entropy Partner. Partner diversity filter. See ADR-009.

OSCBF — Operator-Splitting CBF. A two-level QP formulation for within-arm safety. See ADR-004.

URLLC — Ultra-Reliable Low-Latency Communication. 3GPP standard anchoring the comm-degradation parameter sweep. See ADR-006.