CONCERTO
Copyright 2026 Farhad Safaei

This product includes or builds upon software from the following
upstream projects. Each project is used under the terms of its
respective licence, noted below.

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ManiSkill v3
  Source:  https://github.com/haosulab/ManiSkill
  Licence: Apache License 2.0
  Used as: pinned external dependency (commit a4a4f92); not vendored.

HARL (Heterogeneous-Agent Reinforcement Learning)
  Source:  https://github.com/PKU-MARL/HARL
  Fork:    https://github.com/fsafaei/harl-fork
  Licence: MIT License. The fork's v0.0.0-vendored commit adds three
           files atop upstream HEAD (themselves not patches to
           upstream code): an explicit ``LICENSE`` file (verbatim OSI
           MIT template attributed to "Copyright (c) 2023-2025
           PKU-MARL HARL Contributors", formalising upstream's
           setup.py licence declaration so licence scanners detect
           MIT instead of "unknown"); a ``NOTICE`` file declaring
           Apache-2.0 dual-licensing for future CONCERTO additions;
           and a ``.gitignore`` extension (12 AI-tooling hygiene
           patterns matching the parent repo). This is a documented
           deviation from "first commit applies zero patches", not a
           re-licensing.
  Used as: forked external dependency pinned by SHA in pyproject.toml;
           extended in v0.1.0-aht with the frozen-partner ego-AHT
           wrapper introduced in this project (Apache 2.0 / MIT-
           compatible per the SPDX header on each added file).

CBF-QP reference implementation (Wang, Ames, Egerstedt 2017)
  Source:  "Safety Barrier Certificates for Collisions-Free Multirobot
           Systems", IEEE Transactions on Robotics 33(3), 2017.
  Licence: No redistribution of source; algorithm implemented from scratch
           following the published specification.

Conformal CBF reference (Huriot & Sibai 2025)
  Source:  "Conformal Prediction for Safe Multi-Agent Systems", 2025.
  Licence: No redistribution of source; algorithm implemented from scratch
           following the published specification.

OSCBF reference (Morton & Pavone 2025)
  Source:  "Operator-Splitting CBFs for High-Dimensional Systems", 2025.
  Licence: No redistribution of source; algorithm implemented from scratch
           following the published specification.
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Downstream users of CONCERTO must comply with the licences of all
transitive dependencies. Refer to the SBOM (sbom.spdx.json, generated
at build time) for a complete dependency manifest.
