The ongoing rise in municipal solid waste generation each year has turned solid waste management into a significant global challenge. It has become increasingly important to sort specific materials and recycle them into reusable products. In this chapter, we propose to use a visual-guided active tactile recognition method to perform the waste sorting task where the vision guidance module directs the robot to actively collect high-quality tactile data for material recognition, and a robotic waste sorting system is established. Specifically, the vision guidance module integrates an object detector and an affordance network together. It allows the robot to not only detect the desired containers and packaging from an assortment of wastes, but also obtain a grasp configuration so as to appropriately grasp the target and actively collect its tactile data. By classifying the material with the tactile data, the robot can sort containers and packaging into their respective categories. Case studies are conducted in the real-world robotic waste sorting system demonstrating the effectiveness of the proposed visual-guided active tactile recognition method in sorting containers and packaging of various types by their materials.