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admission control 1agentic AI 1cross-embodiment transfer 1heterogeneous response handling 1low-rank adaptation 1obligation checking 1robotics integration 1runtime safety 1skeleton planning 1transformer models 1uav relay placement 1

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cs.AI2026

HALO: Heterogeneous Admission through Localized Obligations for Safe Agentic Execution

Taewoo Park, Kyeonghyun Yoo, Kiseok Kim +2

The paper introduces HALO, a runtime admission protocol that safely executes heterogeneous AI responses by checking each component’s prerequisites and re‑validating actions before…