{"id":"https://openalex.org/W3006978142","doi":"https://doi.org/10.1109/iros45743.2020.9340859","title":"Robust Robotic Pouring using Audition and Haptics","display_name":"Robust Robotic Pouring using Audition and Haptics","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3006978142","doi":"https://doi.org/10.1109/iros45743.2020.9340859","mag":"3006978142"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340859","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.00342","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Hongzhuo Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hongzhuo Liang","raw_affiliation_strings":["Group TAMS, Universit\u00e4t Hamburg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Group TAMS, Universit\u00e4t Hamburg","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chuangchuang Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Chuangchuang Zhou","raw_affiliation_strings":["Group TAMS, Universit\u00e4t Hamburg","Institute of General Mechanics, RWTH Aachen University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Group TAMS, Universit\u00e4t Hamburg","institution_ids":["https://openalex.org/I159176309"]},{"raw_affiliation_string":"Institute of General Mechanics, RWTH Aachen University","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shuang Li","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shuang Li","raw_affiliation_strings":["Group TAMS, Universit\u00e4t Hamburg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Group TAMS, Universit\u00e4t Hamburg","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiaojian Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaojian Ma","raw_affiliation_strings":["Group VCLA, University of California, Los Angeles"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Group VCLA, University of California, Los Angeles","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Norman Hendrich","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Norman Hendrich","raw_affiliation_strings":["Group TAMS, Universit\u00e4t Hamburg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Group TAMS, Universit\u00e4t Hamburg","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Timo Gerkmann","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I4210121626","display_name":"Signal Processing (United States)","ror":"https://ror.org/021gzyw51","country_code":"US","type":"company","lineage":["https://openalex.org/I4210121626"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Timo Gerkmann","raw_affiliation_strings":["Signal Processing (SP), Universitat Hamburg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Signal Processing (SP), Universitat Hamburg","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I4210121626"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Fuchun Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuchun Sun","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Marcus Stoffel","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marcus Stoffel","raw_affiliation_strings":["Institute of General Mechanics, RWTH Aachen University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of General Mechanics, RWTH Aachen University","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":null,"display_name":"Jianwei Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["Group TAMS, Universit\u00e4t Hamburg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Group TAMS, Universit\u00e4t Hamburg","institution_ids":["https://openalex.org/I159176309"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.3171,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.93153985,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"10880","last_page":"10887"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9979000091552734,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9962000250816345,"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/haptic-technology","display_name":"Haptic technology","score":0.7170000076293945},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6600000262260437},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6137999892234802},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5529999732971191},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.3785000145435333},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.3328999876976013},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.31040000915527344},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.3091999888420105}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7170000076293945},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6600000262260437},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.626800000667572},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.620199978351593},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6137999892234802},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5730000138282776},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5529999732971191},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3785000145435333},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3346000015735626},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.3328999876976013},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.31040000915527344},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.3091999888420105},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.2824999988079071},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2806999981403351},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.26750001311302185},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2644999921321869},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.25940001010894775},{"id":"https://openalex.org/C121687571","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Activity recognition","level":2,"score":0.25600001215934753},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2533999979496002},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.2508000135421753}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros45743.2020.9340859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340859","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:arXiv.org:2003.00342","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.00342","pdf_url":"https://arxiv.org/pdf/2003.00342","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.00342","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.00342","pdf_url":"https://arxiv.org/pdf/2003.00342","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2034844686","https://openalex.org/W2044606382","https://openalex.org/W2058444317","https://openalex.org/W2064675550","https://openalex.org/W2081857580","https://openalex.org/W2109300305","https://openalex.org/W2409205391","https://openalex.org/W2592171038","https://openalex.org/W2619531488","https://openalex.org/W2886982406","https://openalex.org/W2909112693","https://openalex.org/W2918569444","https://openalex.org/W2918619665","https://openalex.org/W2962745199","https://openalex.org/W2963547790","https://openalex.org/W2964041256","https://openalex.org/W2964199361","https://openalex.org/W2964237810","https://openalex.org/W3001418026","https://openalex.org/W3003375370","https://openalex.org/W3003411605","https://openalex.org/W3004314363","https://openalex.org/W3089887959","https://openalex.org/W6696827314","https://openalex.org/W6732465633","https://openalex.org/W6755043373","https://openalex.org/W6756064903"],"related_works":[],"abstract_inverted_index":{"Robust":[0],"and":[1,57,78,104,115,125,130,139],"accurate":[2],"estimation":[3],"of":[4,12,84,108,146],"liquid":[5,50],"height":[6,51,138],"lies":[7],"as":[8],"an":[9],"essential":[10],"part":[11],"pouring":[13,41,67,74],"tasks":[14],"for":[15,81],"service":[16],"robots.":[17],"However,":[18],"vision-based":[19],"methods":[20,28],"often":[21],"fail":[22],"in":[23,32],"occluded":[24],"conditions":[25],"while":[26],"audio-based":[27],"cannot":[29],"work":[30],"well":[31],"a":[33,39,64,105],"noisy":[34],"environment.":[35,131],"We":[36,87,97],"instead":[37],"propose":[38],"multimodal":[40,66],"network":[42,112],"(MP-Net)":[43],"that":[44,119],"is":[45,61,121],"able":[46],"to":[47,127,142],"robustly":[48],"predict":[49],"by":[52,93],"conditioning":[53],"on":[54,63,100],"both":[55],"audition":[56],"haptics":[58],"input.":[59],"MP-Net":[60,99,120],"trained":[62],"self-collected":[65],"dataset.":[68],"This":[69],"dataset":[70,103],"contains":[71],"300":[72],"robot":[73,95,109,116],"recordings":[75],"with":[76],"audio":[77,91],"force/torque":[79],"measurements":[80],"three":[82],"types":[83],"target":[85,148],"containers.":[86],"also":[88],"augment":[89],"the":[90,128,136,144,147],"data":[92,141],"inserting":[94],"noise.":[96],"evaluated":[98],"our":[101],"collected":[102],"wide":[106],"variety":[107],"experiments.":[110],"Both":[111],"training":[113],"results":[114],"experiments":[117],"demonstrate":[118],"robust":[122],"against":[123],"noise":[124],"changes":[126],"task":[129],"Moreover,":[132],"we":[133],"further":[134],"combine":[135],"predicted":[137],"force":[140],"estimate":[143],"shape":[145],"container.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":2}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2020-03-06T00:00:00"}
