RoboTac 2022
The 4th IEEE/RSJ International Workshop
October 23,  2022 
 

Visuo-Tactile Predictive Coding and Active Inference for Grasp and Manipulation

New Advances in Tactile Sensation, Interactive Perception, and Learning

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Objectives 

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Haptics, or the sense of touch, enables humans to interact with their environment and is crucial to manipulation challenges in everyday life. It enables grasping, manipulation, learning, and decision-making based on the information from mechanoreceptors distributed in muscles and over the skin. Humans use haptic exploration to interact with their environment, e.g. to recognize an object's shape and mechanical properties

Call for Contribution

Paper submission guidelines

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We welcome submissions regarding any robotics application where tactile sensing modalities are used. As we aim to encourage meaningful discussion in the tactile perception and learning domain, work that is unpublished, recently published or under review can be accepted for presentation depending on the novelty, significance and contributions of the work to the workshop theme.

We solicit contributions in the form of extended abstracts (min 2 pages, max 4 pages) in IEEE paper format (author information available here), to be presented at the workshop as posters. Outstanding contributions will be selected for oral presentations.

Accepted papers and eventual supplementary material will be made available on the workshop website. However, this does not constitute an archival publication and no formal workshop proceedings will be made available, meaning contributors are free to publish their work in archival journals or conference.

Please submit your contribution via Easychair.

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 Award: The outstanding posters, presentation, and demos will receive awards.

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Important Dates

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• Paper Submission Deadline: September 1st 

• Notification of Acceptance: September 7th

• Camera-Ready Deadline: September 15th 

• Workshop day: October 23 

Topics of interest (but not limited to)

 Human Sense of Touch  

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• Touch physiology from skin to brain

• Haptic Perception 

• Action and Perception Loop

• Perception for Learning

Tactile Sensing Technologies

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• Conformable and compliant materials

• Features enabled by conformable sensors

• Biomimetics

• Sensor effects

• Integration and read-out strategies

• Self-healing properties and strategies

• Sensor skins: design, fabrication and integration strategies

• Integration strategies for sensors in robotics

• Enabling technologies for fully integrated robotic systems

Visuo-Tactile Predictive Coding and Active Inference

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• Exploitation of contact constraints

• Novel contact models

• Object perception for the exploitation of contact

• Tactile information processing

• Tactile feature extraction / feature learning 

• Tactile-based object modelling 

• Tactile object localization

• Tactile shape reconstruction and recognition

• Tactile object classification

• Tactile exploration

• Trends in combining of vision and touch sensing

• Roles of vision and touch sensing in different object perception tasks

• Modelling and representation of sensing modalities

• Integration of visuo-tactile sensing modalities

  Visuo-Tactile Grasp, Prehensile and non- prehensile Manipulation

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• Linear/rotational slip detection 

• Grasping planning

• Grasp stability assessment

• Soft manipulation

• In-hand/whole body manipulation

• Tactile planning interplay between touch sensing and vision

• Tactile knowledge/skill transfer  

• Tactile transfer learning

• The meaning and function of different sensing modalities in object manipulation

• Sensing and planning in object manipulation

• Multi-robot manipulation and coordination

• Control strategy for object manipulation and collaborative assembly

• Learning object manipulation skills from human demonstration

• Novel approaches to grasp and manipulation planning

• Whole-body, multi-contact planning and control

• Design and characterization of contact-exploiting, compliant hands

Invited Speakers

Organizers

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