Grasp and Motion Planning for Dexterous Manipulation for the Real Robot Challenge

Published in arXiv preprint, 2021

Recommended citation: Yoneda, T., Schaff, C., Maeda, T., & Walter, M. (2021). Grasp and motion planning for dexterous manipulation for the real robot challenge. arXiv preprint arXiv:2101.02842.

This report describes our winning submission to the Real Robot Challenge. The Real Robot Challenge is a three-phase dexterous manipulation competition that involves manipulating various rectangular objects with the TriFinger Platform. Our approach combines motion planning with several motion primitives to manipulate the object. For Phases 1 and 2, we additionally learn a residual policy in simulation that applies corrective actions on top of our controller. Our approach won first place in Phase 2 and Phase 3 of the competition. We were anonymously known as ‘ardentstork’ on the competition leaderboard. Videos and our code can be found at https://github.com/ripl-ttic/real-robot-challenge.

Download paper here