DART: Learning-Enhanced Model Predictive Control for Dual-Arm Non-Prehensile Manipulation

Autrio Das, Shreya Bollimuntha, Madala Venkata Renu Jeevesh +5

What appears effortless to a human waiter remains a major challenge for robots. Manipulating objects nonprehensilely on a tray is inherently difficult, and the complexity is amplif…