{"id":"https://openalex.org/W2909112693","doi":"https://doi.org/10.1109/iros.2018.8593654","title":"Learning to Pour using Deep Deterministic Policy Gradients","display_name":"Learning to Pour using Deep Deterministic Policy Gradients","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909112693","doi":"https://doi.org/10.1109/iros.2018.8593654","mag":"2909112693"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089278561","display_name":"Chau Do","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Chau Do","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054533468","display_name":"Camilo Gordillo","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Camilo Gordillo","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5089278561"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":2.5618,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.89084742,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3074","last_page":"3079"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7950025200843811},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6127768158912659},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.527967095375061},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5044032335281372},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.48016542196273804},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4328067898750305},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34110885858535767},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3363783359527588},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22756588459014893},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10119292140007019},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07122448086738586}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7950025200843811},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6127768158912659},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.527967095375061},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5044032335281372},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.48016542196273804},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4328067898750305},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34110885858535767},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3363783359527588},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22756588459014893},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10119292140007019},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07122448086738586},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2018.8593654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:freidok.uni-freiburg.de:270937","is_oa":false,"landing_page_url":"https://freidok.uni-freiburg.de/data/270937","pdf_url":null,"source":{"id":"https://openalex.org/S4306401057","display_name":"FreiDok plus (Universit\u00e4tsbibliothek Freiburg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I161046081","host_organization_name":"University of Freiburg","host_organization_lineage":["https://openalex.org/I161046081"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Towards a robotic society : 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems : October, 1-5, 2018, Madrid, Spain, Madrid Municipal Conference Centre. - Piscataway, NJ, 2018. - 3074-3079, ISBN: 978-1-5386-8094-0 978-1-5386-8093-3 (ISBN der parallelen Ausg. auf e. anderen Datentr\u00e4ger); 978-1-5386-8095-7 (ISBN der Printausgabe)","raw_type":"article_in_conference_proceedings"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W567721252","https://openalex.org/W1777239053","https://openalex.org/W1844329104","https://openalex.org/W1981795628","https://openalex.org/W2081857580","https://openalex.org/W2085261163","https://openalex.org/W2118459920","https://openalex.org/W2155007355","https://openalex.org/W2207670488","https://openalex.org/W2296073425","https://openalex.org/W2419438630","https://openalex.org/W2564989727","https://openalex.org/W2575705757","https://openalex.org/W2605102758","https://openalex.org/W2610395436","https://openalex.org/W2726187156","https://openalex.org/W2771114757","https://openalex.org/W2772778096","https://openalex.org/W2773286355","https://openalex.org/W2774343553","https://openalex.org/W2894898716","https://openalex.org/W2963547790","https://openalex.org/W2963864421","https://openalex.org/W2964161785","https://openalex.org/W2964198579","https://openalex.org/W2964227849","https://openalex.org/W2964237810","https://openalex.org/W3101442004","https://openalex.org/W4293864724","https://openalex.org/W4300799055","https://openalex.org/W6616173779","https://openalex.org/W6638088447","https://openalex.org/W6682849425","https://openalex.org/W6684921986","https://openalex.org/W6755043373"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2606825221","https://openalex.org/W4288076938","https://openalex.org/W2967743314","https://openalex.org/W2674584172","https://openalex.org/W1990892711","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2124621291"],"abstract_inverted_index":{"Pouring":[0],"is":[1,40,107],"a":[2,14,60,79,84,102,116],"fundamental":[3],"skill":[4],"for":[5,62,74,90],"robots":[6],"in":[7],"both":[8],"domestic":[9],"and":[10,28,119],"industrial":[11],"environments.":[12],"Ideally,":[13],"robot":[15,118],"should":[16],"be":[17],"able":[18],"to":[19,24,33,42,45,47,58,109,115,123],"pour":[20,46],"with":[21,101],"high":[22],"accuracy":[23],"specific,":[25],"pre-defined":[26],"heights":[27],"without":[29],"spilling.":[30],"However,":[31],"due":[32],"the":[34,72,92,112],"complex":[35],"dynamics":[36],"of":[37],"liquids,":[38],"it":[39,106,122],"difficult":[41],"learn":[43,59],"how":[44],"achieve":[48],"these":[49],"goals.":[50],"In":[51],"this":[52],"paper":[53],"we":[54],"present":[55],"an":[56],"approach":[57],"policy":[61,114],"pouring":[63],"using":[64,83],"Deep":[65],"Deterministic":[66],"Policy":[67],"Gradients":[68],"(DDPG).":[69],"We":[70,95],"remove":[71],"need":[73],"collecting":[75],"training":[76],"experiences":[77],"on":[78],"real":[80,117],"robot,":[81,104],"by":[82],"state-of-the-art":[85],"liquid":[86,93],"simulator,":[87],"which":[88],"allows":[89],"learning":[91],"dynamics.":[94],"show":[96],"through":[97],"our":[98],"experiments,":[99],"performed":[100],"PR2":[103],"that":[105],"possible":[108],"successfully":[110],"transfer":[111],"learned":[113],"even":[120],"apply":[121],"different":[124],"liquids.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":8}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}