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.
Peract2: Benchmarking and learning for robotic bimanual manipulation tasks
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A task-conditioned two-stage system decouples grasp localization from interaction trajectory planning using specialized foundation models to improve generalization across heterogeneous object types.
citing papers explorer
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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.
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HeteroGenManip: Generalizable Manipulation For Heterogeneous Object Interactions
A task-conditioned two-stage system decouples grasp localization from interaction trajectory planning using specialized foundation models to improve generalization across heterogeneous object types.