Papers › Grasp and Motion Planning for Dexterous Manipulation for the Real Robot Challenge
Grasp and Motion Planning for Dexterous Manipulation for the Real Robot Challenge
Takuma Yoneda, Charles Schaff, Takahiro Maeda, Matthew Walter
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.
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