Real Robot Challenge Phase 3: Manipulating Objects using High-Level Coordination of Motion Primitives

Anonymous

Keywords: manipulation, robotics

TL;DR: Real Robot Challenge Phase 2: No ML Required

Abstract:

In Phase 1, we presented an approach to rigid-body manipulation based on carefully-designed
motion primitives. In Phase 2, we demonstrated that these primitives combined with a more
robust state machine can reasonably complete all 4 tasks on a real robot. For Phase 3, to
perform manipulation with a cuboid, we continue with the same approach with a different
set of motion primitives. Our approach shows promising results on the position-based tasks
for cuboid manipulation. In general, our approach emphasizes the use of ML machinery only
when classical approaches fail.