mlsanityData to 7 Oct 2026

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

arXiv 2101.02842 ↗First posted 8 Jan 2021cs.RO cs.AIcited by 4

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Abstract (arXiv)

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.

Key facts. Cited by 4 papers in the map (data through 7 Oct 2026). Builds on 7 of its 10 references that are in the map. First posted on arXiv 8 Jan 2021.

Builds on

7 of 10 references.

References · 7

  1. 2017Proximal Policy Optimization Algorithmscited by 14,441
  2. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,401
  3. 2017Sim-to-Real Transfer of Robotic Control with Dynamics Randomizationcited by 616
  4. 2018Sim-to-Real: Learning Agile Locomotion For Quadruped Robotscited by 277
  5. 2018Residual Reinforcement Learning for Robot Controlcited by 242
  6. 2018Residual Policy Learningcited by 146
  7. 2020TriFinger: An Open-Source Robot for Learning Dexteritycited by 31

Built on by

Cited by year

Citing papers per year: 2021: 2; 2022: 1; 2023: 1.

4 papers.

  1. 2021Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFingercited by 34
  2. 2022Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Researchcited by 6
  3. 2021Solving the Real Robot Challenge using Deep Reinforcement Learningcited by 5
  4. 2023Identifying Expert Behavior in Offline Training Datasets Improves Behavioral Cloning of Robotic Manipulation Policiescited by 5