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:
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Paper submission deadline: August 30th, 2023
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Notification of acceptance: September 5th, 2023
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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.
Submission:
Please submit your contribution via EasyChair Link or https://easychair.org/conferences/?conf=robotac2023
In case of any questions please contact the main organiser via Email info.robotac@bmw.de
Awards:
Outstanding paper, poster and demos will receive awards.
Objectives
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
Organizers
Invited Speakers
Accepted Papers
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Simultaneous Tactile Estimation and Control for Object Manipulation - S. Kim, A Bronars, P. Patre, A. Rodriguez
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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
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Robotic Assembly Using a Tactile Sensor and a Soft Wrist - J. R-Miquel, M. Hamaya, C. C. B. Hernandez, K. Tanaka.
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Sim2Real Learning of Vision-based Tactile Sensing at Large-scale - Q. K. Luu and V. A. Ho
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GelSight Svelte Hand: A Three-finger, Two-DoF, Tactile-rich, Low-cost Robot Hand for Dexterous Manipulation - J. Zhao and E. Adelson
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AcousTac: Tactile sensing with acoustic resonance for electronics-free soft surfaces - M. S. Li and H. S. Stuart
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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
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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
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Seamless Integration of Tactile Sensors for Cobots - R. Proesmans and F. Wyffels
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Estimation of Extrinsic Contact Patch for Stable Placement - K. Ota, D. K. Jha, K. M. Jatavallabhula, A. Kanezaki, J. B. Tenenbaum
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General In-Hand Object Rotation with Vision and Touch - H. Qi, B. Yi, S. Suresh, M. Lambeta, Y. Ma, R. Calandra, J. Malik
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VisTac: Towards a Unified Multi-Modal Sensing Finger for Robotic Manipulation - S. Athar, G. Patel, Z. Xu, Q. Qiu, Y. She
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Model-based Tactile Regrasping with the Smart Suction Cup - J. Lee, S. D. Lee, T. M. Huh, H. S. Stuart
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Active Acoustic Sensing – Augmenting and Complementing Visuo-Tactile Sensing for Robot Manipulation - S. Lu and H. Culbertson
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Visuo-Tactile based Active Object Parameter Inference - a Bayesian approach - A. Dutta, E. Burdet, M. Kaboli
Overview of the Program
Topic | Time |
|---|---|
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
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Touch physiology from skin to brain
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Haptic Perception
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Action and Perception Loop
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Perception for Learning
Tactile Sensing Technologies
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Conformable and compliant materials
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Features enabled by conformable sensors
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Biomimetics
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Sensor effects
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Integration and read-out strategies
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Self-healing properties and strategies
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Sensor skins: design, fabrication and integration strategies
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Integration strategies for sensors in robotics
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Enabling technologies for fully integrated robotic systems
Visuo-Tactile Perception, Learning, Control
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Exploitation of contact constraints
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Novel contact models
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Neuromorphic Perception and Learning
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Object perception for the exploitation of contact
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Tactile information processing
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Tactile feature extraction / feature learning
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Tactile-based object modelling
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Tactile object localization
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Tactile shape reconstruction and recognition
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Tactile object classification
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Tactile exploration
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Trends in combining of vision and touch sensing
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Roles of vision and touch sensing in different object perception tasks
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Modelling and representation of sensing modalities
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Integration of visuo-tactile sensing modalities
Visuo-Tactile Grasp, Prehensile and Non-prehensile Manipulation
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Linear/rotational slip detection
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Grasping planning
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Grasp stability assessment
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Soft manipulation
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In-hand/whole body manipulation
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Tactile planning interplay between touch sensing and vision
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Tactile knowledge/skill transfer
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Tactile transfer learning
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The meaning and function of different sensing modalities in object manipulation
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Sensing and planning in object manipulation
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Multi-robot manipulation and coordination
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Control strategy for object manipulation and collaborative assembly
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Learning object manipulation skills from human demonstration
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Novel approaches to grasp and manipulation planning
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Whole-body, multi-contact planning and control
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Design and characterisation of contact-exploiting, compliant hands
Sponsors
