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This report describes our winning submission to the Real Robot Challenge(https://real-robot-challenge.com/). The Real Robot Challenge is a three-phasedexterous manipulation competition that involves manipulating variousrectangular objects with the TriFinger Platform. Our approach combines motionplanning with several motion primitives to manipulate the object. For Phases 1and 2, we additionally learn a residual policy in simulation that appliescorrective actions on top of our controller. Our approach won first place inPhase 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 befound at https://github.com/ripl-ttic/real-robot-challenge.

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