DART: Learning-Enhanced Model Predictive Control for Dual-Arm Non-Prehensile Manipulation. - Autrio Das; Shreya Bollimuntha; Madala Venkata Renu Jeevesh; Keshab Patra; Tashmoy Ghosh; Nagamanikandan Govindan; Arun Kumar Singh 001; K. Madhava Krishna (CoRR, 2026)