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

• URL: http://arxiv.org/abs/2101.02842v1
• Date: Fri, 8 Jan 2021 04:13:39 GMT
• Title: Grasp and Motion Planning for Dexterous Manipulation for the Real Robot Challenge
• Authors: Takuma Yoneda, Charles Schaff, Takahiro Maeda, Matthew Walter
• Abstract summary: The Real Robot Challenge is a three-phase dexterous manipulation competition. Our approach combines motion planning with several motion primitives to manipulate the object. We were anonymously known as ardentstork' on the competition leaderboard.
• Score: 0.05735035463793007
• License: http://creativecommons.org/licenses/by/4.0/
• 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.

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