DART is the first claimed framework for non-prehensile dual-arm tray manipulation, integrating MPC with physics-based, online regression, and reinforcement learning dynamics models, validated in simulation.
Stochastic motion under nonlinear friction representing shear thinning.Physical Review E, 108(6):064606
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DART: Learning-Enhanced Model Predictive Control for Dual-Arm Non-Prehensile Manipulation
DART is the first claimed framework for non-prehensile dual-arm tray manipulation, integrating MPC with physics-based, online regression, and reinforcement learning dynamics models, validated in simulation.