PRISM: Projection-Integrated Sampling-Based MPC with Bayesian Cost Tuning for Bimanual Manipulation
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2608.25666v1 Announce Type: new Abstract: 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 that uses a GPU-accelerated physics simulator as an online world model for complex dual-arm manipulation.