  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.
