Preprint
Aug 2026
PRISM: Projection-Integrated Sampling-Based MPC with Bayesian Cost Tuning for Bimanual Manipulation
Bimanual manipulation in cluttered, contact-rich environments remains challenging because it requires coordinated motion generation, interaction-aware planning, and reliable execution under tight kinematic constraints. We present PRISM, a projection-integrated sampling-based Model Predictive Control (MPC) framework tha...
A. Dan, Iryna Hurova, Karl Kruusamäe et al.
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