PRISM: Projection-Integrated Sampling-Based MPC with Bayesian Cost Tuning for Bimanual Manipulation
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来源：arXiv cs.RO发布时间待核实
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.