{"id":"https://openalex.org/W4405785231","doi":"https://doi.org/10.1109/iros58592.2024.10802215","title":"Clutter-Aware Spill-Free Liquid Transport via Learned Dynamics","display_name":"Clutter-Aware Spill-Free Liquid Transport via Learned Dynamics","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785231","doi":"https://doi.org/10.1109/iros58592.2024.10802215"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802215","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802215","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5106276544","display_name":"Ava Abderezaei","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ava Abderezaei","raw_affiliation_strings":["University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019107575","display_name":"Anuj Pasricha","orcid":"https://orcid.org/0000-0003-0597-3162"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anuj Pasricha","raw_affiliation_strings":["University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106276545","display_name":"Alex Klausenstock","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex Klausenstock","raw_affiliation_strings":["University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020277024","display_name":"Alessandro Roncone","orcid":"https://orcid.org/0000-0001-7385-1875"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alessandro Roncone","raw_affiliation_strings":["University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1628,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4900809,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"9908","last_page":"9915"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11407","display_name":"Innovative Microfluidic and Catalytic Techniques Innovation","score":0.5680000185966492,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11407","display_name":"Innovative Microfluidic and Catalytic Techniques Innovation","score":0.5680000185966492,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.5412999987602234,"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/T11382","display_name":"Fluid Dynamics and Heat Transfer","score":0.5378999710083008,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/clutter","display_name":"Clutter","score":0.8413078784942627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5925703644752502},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4762420952320099},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33193492889404297},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.21694713830947876},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.15537160634994507},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.13955813646316528},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12905767560005188}],"concepts":[{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.8413078784942627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5925703644752502},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4762420952320099},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33193492889404297},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.21694713830947876},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.15537160634994507},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.13955813646316528},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12905767560005188}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802215","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802215","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1967655518","https://openalex.org/W2133284507","https://openalex.org/W2141435354","https://openalex.org/W2227111361","https://openalex.org/W2786893837","https://openalex.org/W2789839425","https://openalex.org/W2846201370","https://openalex.org/W2890442810","https://openalex.org/W2939631413","https://openalex.org/W2944386338","https://openalex.org/W2979826702","https://openalex.org/W3004271040","https://openalex.org/W3031753836","https://openalex.org/W3121222079","https://openalex.org/W3174299515","https://openalex.org/W3210637564","https://openalex.org/W4206575338","https://openalex.org/W4229786028","https://openalex.org/W4293568883","https://openalex.org/W4312334342","https://openalex.org/W6628896000","https://openalex.org/W6689225223"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2130674020","https://openalex.org/W2093748878","https://openalex.org/W2333771223","https://openalex.org/W2120056845","https://openalex.org/W1981531423","https://openalex.org/W4394861761","https://openalex.org/W1977371217"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3],"present":[4],"a":[5,100,106],"novel":[6],"algorithm":[7],"to":[8,25,78,92],"perform":[9],"spill-free":[10,63,94,115],"handling":[11],"of":[12,37,54,68,99,111,129],"open-top":[13],"liquid-filled":[14,23],"containers":[15,24,128],"that":[16,74,141],"operates":[17],"in":[18,122],"cluttered":[19],"environments.":[20],"By":[21],"allowing":[22],"be":[26],"tilted":[27],"at":[28,143],"higher":[29],"angles":[30],"and":[31,46,132,135],"enabling":[32],"motion":[33],"along":[34],"all":[35],"axes":[36],"end-effector":[38],"orientation,":[39],"our":[40,120],"work":[41],"extends":[42],"the":[43,52,66,89,97],"reachable":[44],"space":[45,140],"enhances":[47],"maneuverability":[48],"around":[49],"obstacles,":[50],"broadening":[51],"range":[53],"feasible":[55],"scenarios.":[56],"Our":[57],"key":[58],"contributions":[59],"include:":[60],"i)":[61],"generating":[62],"paths":[64],"through":[65,96],"use":[67],"RRT*":[69],"with":[70,105],"an":[71,84,137,148],"informed":[72],"sampler":[73],"leverages":[75],"container":[76],"properties":[77],"avoid":[79],"spill-inducing":[80],"states":[81],"(such":[82],"as":[83,114],"upside-down":[85],"container),":[86],"ii)":[87],"parameterizing":[88],"resulting":[90],"path":[91],"generate":[93],"trajectories":[95,113],"implementation":[98],"time":[101],"parameterization":[102],"algorithm,":[103],"coupled":[104],"transformer-based":[107],"machine-learning":[108],"model":[109],"capable":[110],"classifying":[112],"or":[116],"not.":[117],"We":[118],"validate":[119],"approach":[121],"real-world,":[123],"obstacle-rich":[124],"task":[125],"settings":[126],"using":[127],"various":[130],"shapes":[131],"fill":[133],"levels":[134],"demonstrate":[136],"extended":[138],"solution":[139],"is":[142],"least":[144],"3x":[145],"larger":[146],"than":[147],"existing":[149],"approach.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}