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.
Non-prehensile object transportation via model predictive non-sliding manipulation control.IEEE Transactions on Control Systems Technology, 31(5):2231– 2244, 2023
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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.