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RoboTac 2023

The 5th IEEE/RSJ International Workshop

October 1st, 2023

IROS 2023, Detroit, USA


Visuo-Tactile Perception, Learning, Control for Manipulation and HRI
Emerging Data Driven Approach

Call for Papers and Contributions

Important dates:

  • Paper submission deadline: August 30th, 2023

  • Notification of acceptance:  September 5th, 2023 

  • Camera-ready deadline:  September 10th, 2023

Paper submission guidelines:

We solicit contributions in the form of extended abstracts (min 2 pages, max 4 pages) in IEEE paper format to be presented at the workshop as posters. Please follow the authors guidelines and use the LaTex or MS Word templates for the IROS conference. Outstanding contributions will be selected for oral presentations.

Accepted papers and eventual supplementary material will be made available on the workshop website.


Please submit your contribution via EasyChair Link or

In case of any questions please contact the main organiser via Email


Outstanding paper, poster and demos will receive awards.


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

Invited Speakers
Accepted Papers

  • Simultaneous Tactile Estimation and Control for Object Manipulation - S. Kim, A Bronars, P. Patre, A. Rodriguez

  • Toward Dexterous Robot Manipulation of Deformable Linear Objects: Estimating Cable Pose during a Fingertip Grasp using Tactile Sensors - K. Mathenia, T. Armstrong, N. T. Fitter, J. R. Davidson

  • Robotic Assembly Using a Tactile Sensor and a Soft Wrist - J. R-Miquel, M. Hamaya, C. C. B. Hernandez, K. Tanaka. 

  • Sim2Real Learning of Vision-based Tactile Sensing at Large-scale - Q. K. Luu and V. A. Ho

  • GelSight Svelte Hand: A Three-finger, Two-DoF, Tactile-rich, Low-cost Robot Hand for Dexterous Manipulation - J. Zhao and E. Adelson


  • AcousTac: Tactile sensing with acoustic resonance for electronics-free soft surfaces - M. S. Li and H. S. Stuart

  • Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing - L. Lach, N. Funk, R. Haschke, H. J. Ritter, J. Peters, G. Chalvatzaki

  • Avocado Firmness Assessment Using Vision-Based Tactile Sensing: A Non-Destructive Approach - M. M. Mohsan, B. B. Hasanen, T. Hassan, M. U. Din, N. Werghi, L. Seneviratne and I. Hussain

  • Seamless Integration of Tactile Sensors for Cobots - R. Proesmans and F. Wyffels

  • Estimation of Extrinsic Contact Patch for Stable Placement - K. Ota, D. K. Jha, K. M. Jatavallabhula, A. Kanezaki, J. B. Tenenbaum

  • General In-Hand Object Rotation with Vision and Touch - H. Qi, B. Yi, S. Suresh, M. Lambeta, Y. Ma, R. Calandra, J. Malik

  • VisTac: Towards a Unified Multi-Modal Sensing Finger for Robotic Manipulation - S. Athar, G. Patel, Z. Xu, Q. Qiu, Y. She

  • Model-based Tactile Regrasping with the Smart Suction Cup - J. Lee, S. D. Lee, T. M. Huh, H. S. Stuart

  • Active Acoustic Sensing – Augmenting and Complementing Visuo-Tactile Sensing for Robot Manipulation - S. Lu and H. Culbertson

  • Visuo-Tactile based Active Object Parameter Inference - a Bayesian approach - A. Dutta, E. Burdet, M. Kaboli

Overview of the Program 

Opening + Tribute to Vincent Hayward
08:30 - 9:00
Kaspar Althoefer
09:00 - 9:25
Alberto Rodriguez
09:25 - 9:50
Matei Ciocarlie
09:50 - 10:15
Coffee - Break
10:15 - 10:30
Student Pitch I
10:30 - 11:10
Gregory Gerling
11:10 - 11:35
Carmel Majidi
11:35 - 12:00
Panel Discussion I
12:00 - 12:30
Lunch Break
12:30 - 13:30
Heba Khamis
13:30 - 13:55
Nima Fazeli
13:55 - 14:20
Nathan Lepora
14:20 - 14:45
Student Pitch II
14:45 - 15:30
Coffee Break
15:30 - 15:45
Lorenzo Natale
15:45 - 16:10
Antonio Bicchi
16:10 - 16:35
Oliver Kroemer
16:35 - 17:00

Topics of interest


Human Sense of Touch  

  • Touch physiology from skin to brain

  • Haptic Perception 

  • Action and Perception Loop

  • Perception for Learning


Tactile Sensing Technologies

  • 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 Perception, Learning, Control

  • Exploitation of contact constraints

  • Novel contact models

  • Neuromorphic Perception and Learning

  • 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

  • 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 characterisation of contact-exploiting, compliant hands

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