{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/grasp-and-motion-planning-for-dexterous","title":"Grasp and Motion Planning for Dexterous Manipulation for the Real Robot Challenge","arxiv_id":"2101.02842","date":"2021-01-08","proceeding":null,"authors":["Takuma Yoneda","Charles Schaff","Takahiro Maeda","Matthew Walter"],"abstract":"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.","url_abs":"https://arxiv.org/abs/2101.02842v1","url_pdf":"https://arxiv.org/pdf/2101.02842v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"grasp-and-motion-planning-for-dexterous","repo_url":"https://github.com/cbschaff/benchmark-rrc","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"BSD-3-Clause"}},{"paper_slug":"grasp-and-motion-planning-for-dexterous","repo_url":"https://github.com/ripl-ttic/real-robot-challenge","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"unanswered"}}],"tasks":[{"task_slug":"motion-planning","task_name":"Motion Planning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2101.02842","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}