This report describes our winning submission to the Real Robot Challenge (https://real-robot-challenge.com/). 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 (https://real-robot-challenge.com/leader-board). Videos and our code can be found at https://github.com/ripl-ttic/real-robot-challenge.
@article{arxiv.2101.02842,
title = {Grasp and Motion Planning for Dexterous Manipulation for the Real Robot Challenge},
author = {Takuma Yoneda and Charles Schaff and Takahiro Maeda and Matthew Walter},
journal= {arXiv preprint arXiv:2101.02842},
year = {2021}
}
Comments
The winning submission to Real Robot Challenge (https://real-robot-challenge.com/)