That sounds interesting! Google doesn't find any mention of that, only https://en.wikipedia.org/wiki/Dynamic_Analysis_and_Replannin... that says DART, far from failing hard, was a huge success. Do you have a link to the thread?
btw, I, too, couldn't find traces of the lisp side of this project after a 15 minute search. I was curious about the fix times and lisp codebase size