{"id":"https://openalex.org/W3087141283","doi":"https://doi.org/10.1109/iros45743.2020.9340852","title":"Stir to Pour: Efficient Calibration of Liquid Properties for Pouring Actions","display_name":"Stir to Pour: Efficient Calibration of Liquid Properties for Pouring Actions","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3087141283","doi":"https://doi.org/10.1109/iros45743.2020.9340852","mag":"3087141283"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340852","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/files/158143770/Stir_to_Pour_LOPEZ_GUEVARA_DOA01072020_AFV.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028761269","display_name":"Tatiana L\u00f3pez-Guevara","orcid":null},"institutions":[{"id":"https://openalex.org/I4210085930","display_name":"Heriot-Watt University Malaysia","ror":"https://ror.org/0059w0420","country_code":"MY","type":"education","lineage":["https://openalex.org/I4210085930"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB","MY"],"is_corresponding":false,"raw_author_name":"Tatiana Lopez-Guevara","raw_affiliation_strings":["Heriot-Watt University, Currie, Edinburgh","University of Edinburgh, Edinburgh"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Heriot-Watt University, Currie, Edinburgh","institution_ids":["https://openalex.org/I4210085930"]},{"raw_affiliation_string":"University of Edinburgh, Edinburgh","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090003852","display_name":"Rita Pucci","orcid":"https://orcid.org/0000-0002-2970-1180"},"institutions":[{"id":"https://openalex.org/I129043915","display_name":"University of Udine","ror":"https://ror.org/05ht0mh31","country_code":"IT","type":"education","lineage":["https://openalex.org/I129043915"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Rita Pucci","raw_affiliation_strings":["University of Udine"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Udine","institution_ids":["https://openalex.org/I129043915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010578112","display_name":"N. Taylor","orcid":"https://orcid.org/0000-0003-1268-9469"},"institutions":[{"id":"https://openalex.org/I4210085930","display_name":"Heriot-Watt University Malaysia","ror":"https://ror.org/0059w0420","country_code":"MY","type":"education","lineage":["https://openalex.org/I4210085930"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Nicholas K. Taylor","raw_affiliation_strings":["Heriot-Watt University, Currie, Edinburgh"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Heriot-Watt University, Currie, Edinburgh","institution_ids":["https://openalex.org/I4210085930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038807284","display_name":"Michael U. Gutmann","orcid":"https://orcid.org/0000-0002-5329-9910"},"institutions":[{"id":"https://openalex.org/I129043915","display_name":"University of Udine","ror":"https://ror.org/05ht0mh31","country_code":"IT","type":"education","lineage":["https://openalex.org/I129043915"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Michael U. Gutmann","raw_affiliation_strings":["University of Udine"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Udine","institution_ids":["https://openalex.org/I129043915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034879722","display_name":"Suhramanian Ramamoorthy","orcid":null},"institutions":[{"id":"https://openalex.org/I129043915","display_name":"University of Udine","ror":"https://ror.org/05ht0mh31","country_code":"IT","type":"education","lineage":["https://openalex.org/I129043915"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Suhramanian Ramamoorthy","raw_affiliation_strings":["University of Udine"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Udine","institution_ids":["https://openalex.org/I129043915"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043468927","display_name":"Kartic Suhr","orcid":null},"institutions":[{"id":"https://openalex.org/I129043915","display_name":"University of Udine","ror":"https://ror.org/05ht0mh31","country_code":"IT","type":"education","lineage":["https://openalex.org/I129043915"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Kartic Suhr","raw_affiliation_strings":["University of Udine"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Udine","institution_ids":["https://openalex.org/I129043915"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5351","last_page":"5357"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9797999858856201,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6941587328910828},{"id":"https://openalex.org/keywords/intuition","display_name":"Intuition","score":0.6792938113212585},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6202696561813354},{"id":"https://openalex.org/keywords/spillage","display_name":"Spillage","score":0.5247436165809631},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.43458715081214905},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40119513869285583},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3226394057273865},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11364108324050903},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1119777262210846}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6941587328910828},{"id":"https://openalex.org/C132010649","wikidata":"https://www.wikidata.org/wiki/Q189222","display_name":"Intuition","level":2,"score":0.6792938113212585},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6202696561813354},{"id":"https://openalex.org/C2779640004","wikidata":"https://www.wikidata.org/wiki/Q16979462","display_name":"Spillage","level":2,"score":0.5247436165809631},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.43458715081214905},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40119513869285583},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3226394057273865},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11364108324050903},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1119777262210846},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9340852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340852","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:publications/60ff9ec2-c0e4-4fdd-a174-1f1734f4c4f7","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/60ff9ec2-c0e4-4fdd-a174-1f1734f4c4f7","pdf_url":"https://www.research.ed.ac.uk/files/158143770/Stir_to_Pour_LOPEZ_GUEVARA_DOA01072020_AFV.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Lopez Guevara, T, Pucci, R, Taylor, N, Gutmann, M U, Ramamoorthy, R & Subr, K 2021, Stir to Pour: Efficient Calibration of Liquid Properties for Pouring Actions. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, United States, 25/10/20. https://doi.org/10.1109/IROS45743.2020.9340852","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/60ff9ec2-c0e4-4fdd-a174-1f1734f4c4f7","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/60ff9ec2-c0e4-4fdd-a174-1f1734f4c4f7","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Lopez Guevara, T, Pucci, R, Taylor, N, Gutmann, M U, Ramamoorthy, R & Subr, K 2021, Stir to Pour: Efficient Calibration of Liquid Properties for Pouring Actions. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, United States, 25/10/20. https://doi.org/10.1109/IROS45743.2020.9340852","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/60ff9ec2-c0e4-4fdd-a174-1f1734f4c4f7","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/9340852","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:publications/60ff9ec2-c0e4-4fdd-a174-1f1734f4c4f7","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/60ff9ec2-c0e4-4fdd-a174-1f1734f4c4f7","pdf_url":"https://www.research.ed.ac.uk/files/158143770/Stir_to_Pour_LOPEZ_GUEVARA_DOA01072020_AFV.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Lopez Guevara, T, Pucci, R, Taylor, N, Gutmann, M U, Ramamoorthy, R & Subr, K 2021, Stir to Pour: Efficient Calibration of Liquid Properties for Pouring Actions. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, United States, 25/10/20. https://doi.org/10.1109/IROS45743.2020.9340852","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320311518","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93"},{"id":"https://openalex.org/F4320320332","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3087141283.pdf","grobid_xml":"https://content.openalex.org/works/W3087141283.grobid-xml"},"referenced_works_count":52,"referenced_works":["https://openalex.org/W2014356541","https://openalex.org/W2059100041","https://openalex.org/W2059316647","https://openalex.org/W2068127265","https://openalex.org/W2076235166","https://openalex.org/W2093550895","https://openalex.org/W2105813220","https://openalex.org/W2115448812","https://openalex.org/W2115513040","https://openalex.org/W2118459920","https://openalex.org/W2168090960","https://openalex.org/W2199040891","https://openalex.org/W2239232218","https://openalex.org/W2534708821","https://openalex.org/W2564989727","https://openalex.org/W2568736373","https://openalex.org/W2570797809","https://openalex.org/W2613576910","https://openalex.org/W2772778096","https://openalex.org/W2773286355","https://openalex.org/W2787041204","https://openalex.org/W2909112693","https://openalex.org/W2918569444","https://openalex.org/W2918619665","https://openalex.org/W2953009816","https://openalex.org/W2962802170","https://openalex.org/W2963030758","https://openalex.org/W2963547790","https://openalex.org/W2963832487","https://openalex.org/W2963977107","https://openalex.org/W2964129402","https://openalex.org/W2964227849","https://openalex.org/W2964237810","https://openalex.org/W2964265215","https://openalex.org/W2982840609","https://openalex.org/W3004088848","https://openalex.org/W3034482369","https://openalex.org/W3210232381","https://openalex.org/W4287866651","https://openalex.org/W4294563757","https://openalex.org/W6673896244","https://openalex.org/W6676327744","https://openalex.org/W6677172227","https://openalex.org/W6682656624","https://openalex.org/W6728691686","https://openalex.org/W6732996737","https://openalex.org/W6737486968","https://openalex.org/W6751955834","https://openalex.org/W6755269107","https://openalex.org/W6766432192","https://openalex.org/W6774386989","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W2261928542","https://openalex.org/W2384014964","https://openalex.org/W2254300685","https://openalex.org/W250986124","https://openalex.org/W2393295287","https://openalex.org/W3157118002","https://openalex.org/W2915015943","https://openalex.org/W2952374685","https://openalex.org/W2071875271","https://openalex.org/W2737608951"],"abstract_inverted_index":{"Humans":[0],"use":[1,88],"simple":[2],"probing":[3,92,108,182,201,227],"actions":[4],"to":[5,60,87,99,127,200],"develop":[6],"intuition":[7,16],"about":[8],"the":[9,36,52,107,113,125,132,144,153,163,168,210],"physical":[10],"behavior":[11],"of":[12,23,27,38,115,226],"common":[13],"objects.":[14],"Such":[15],"is":[17,58,70],"particularly":[18],"useful":[19],"for":[20,188,212,219],"adaptive":[21],"estimation":[22],"favorable":[24],"manipulation":[25],"strategies":[26],"those":[28],"objects":[29,77],"in":[30,136,185],"novel":[31,76],"contexts.":[32],"For":[33],"example,":[34],"observing":[35],"effect":[37],"tilt":[39],"on":[40,50,167,195],"a":[41,85,89,97,116,120,128,148,181,196,215],"transparent":[42],"bottle":[43],"containing":[44],"an":[45],"unknown":[46,104,145],"liquid":[47,53],"provides":[48],"clues":[49],"how":[51],"might":[54],"be":[55],"poured.":[56],"It":[57],"desirable":[59],"equip":[61],"general-purpose":[62],"robotic":[63],"systems":[64],"with":[65,96],"this":[66,81],"capability":[67],"because":[68],"it":[69],"inevitable":[71],"that":[72,151,177],"they":[73],"will":[74],"encounter":[75],"and":[78,157],"scenarios.":[79],"In":[80,106],"paper,":[82],"we":[83,110,161,205],"teach":[84],"robot":[86,118],"simple,":[90],"specified":[91],"strategy":[93,183],"-":[94],"stirring":[95,119,179,213],"stick-":[98],"reduce":[100],"spillage":[101,187],"when":[102,193],"pouring":[103,164,220],"liquids.":[105],"step,":[109],"continuously":[111],"observe":[112],"effects":[114],"real":[117,156],"liquid,":[121,146],"while":[122],"simultaneously":[123],"tuning":[124],"parameters":[126,171],"model":[129],"(simulator)":[130],"until":[131],"two":[133],"outputs":[134],"are":[135],"agreement.":[137],"We":[138,175],"obtain":[139],"optimal":[140,169],"simulation":[141,170],"parameters,":[142],"characterizing":[143],"via":[147,173,202],"Bayesian":[149],"Optimizer":[150],"minimizes":[152],"discrepancy":[154],"between":[155],"simulated":[158],"outcomes.":[159],"Then,":[160],"optimize":[162],"policy":[165],"conditioning":[166],"determined":[172],"stirring.":[174],"show":[176],"using":[178],"as":[180],"result":[184],"reduced":[186],"three":[189],"qualitatively":[190],"different":[191],"liquids":[192],"executed":[194],"UR10":[197],"Robot,":[198],"compared":[199],"pouring.":[203],"Finally,":[204],"provide":[206],"quantitative":[207],"insights":[208],"into":[209],"reason":[211],"being":[214],"suitable":[216],"calibration":[217],"task":[218],"-a":[221],"step":[222],"towards":[223],"automatic":[224],"discovery":[225],"strategies.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
