{"id":"https://openalex.org/W4416747922","doi":"https://doi.org/10.1109/iros60139.2025.11247170","title":"DexPour: Effective and Efficient High-DoF Robotic Hand Liquid Pouring via Hierarchical Reward with Approximated Proxy Abstraction","display_name":"DexPour: Effective and Efficient High-DoF Robotic Hand Liquid Pouring via Hierarchical Reward with Approximated Proxy Abstraction","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416747922","doi":"https://doi.org/10.1109/iros60139.2025.11247170"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247170","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5114996374","display_name":"Xinmin Fang","orcid":"https://orcid.org/0000-0002-0042-8555"},"institutions":[{"id":"https://openalex.org/I921990950","display_name":"University of Colorado Denver","ror":"https://ror.org/02hh7en24","country_code":"US","type":"education","lineage":["https://openalex.org/I921990950"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xinmin Fang","raw_affiliation_strings":["University of Colorado Denver,Department of Computer Science and Engineering,Denver,CO,USA,80217"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Denver,Department of Computer Science and Engineering,Denver,CO,USA,80217","institution_ids":["https://openalex.org/I921990950"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054381816","display_name":"Lingfeng Tao","orcid":"https://orcid.org/0000-0001-5989-0587"},"institutions":[{"id":"https://openalex.org/I172980758","display_name":"Kennesaw State University","ror":"https://ror.org/00jeqjx33","country_code":"US","type":"education","lineage":["https://openalex.org/I172980758"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lingfeng Tao","raw_affiliation_strings":["Kennesaw State University,Department of Robotics and Mechatronics Engineering,Marietta,GA,30060"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kennesaw State University,Department of Robotics and Mechatronics Engineering,Marietta,GA,30060","institution_ids":["https://openalex.org/I172980758"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016863481","display_name":"Zhengxiong Li","orcid":"https://orcid.org/0000-0003-1880-5096"},"institutions":[{"id":"https://openalex.org/I921990950","display_name":"University of Colorado Denver","ror":"https://ror.org/02hh7en24","country_code":"US","type":"education","lineage":["https://openalex.org/I921990950"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhengxiong Li","raw_affiliation_strings":["University of Colorado Denver,Department of Computer Science and Engineering,Denver,CO,USA,80217"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Denver,Department of Computer Science and Engineering,Denver,CO,USA,80217","institution_ids":["https://openalex.org/I921990950"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1397","last_page":"1402"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7806000113487244,"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":0.7806000113487244,"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/T10868","display_name":"Soft Robotics and Applications","score":0.08060000091791153,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.02459999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.6392999887466431},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.536300003528595},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5299000144004822},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.47870001196861267},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.46549999713897705},{"id":"https://openalex.org/keywords/proxy","display_name":"Proxy (statistics)","score":0.4593000113964081}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7134000062942505},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.6392999887466431},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.536300003528595},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5299000144004822},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.47870001196861267},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.46549999713897705},{"id":"https://openalex.org/C2780148112","wikidata":"https://www.wikidata.org/wiki/Q1432581","display_name":"Proxy (statistics)","level":2,"score":0.4593000113964081},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4415000081062317},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4323999881744385},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.2865999937057495},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27000001072883606},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2669000029563904},{"id":"https://openalex.org/C2778445095","wikidata":"https://www.wikidata.org/wiki/Q18354077","display_name":"Sample complexity","level":2,"score":0.25380000472068787}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247170","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":14,"referenced_works":["https://openalex.org/W2296073425","https://openalex.org/W2909112693","https://openalex.org/W2918569444","https://openalex.org/W2963411833","https://openalex.org/W2963523627","https://openalex.org/W2964237810","https://openalex.org/W2990747716","https://openalex.org/W3006978142","https://openalex.org/W3162734126","https://openalex.org/W4205295909","https://openalex.org/W4285102214","https://openalex.org/W4367016688","https://openalex.org/W4387937021","https://openalex.org/W4391454473"],"related_works":[],"abstract_inverted_index":{"Pouring":[0],"fluids":[1],"is":[2],"a":[3,28,48,88,94,99,138],"routine":[4],"task":[5],"for":[6,10,128,159],"humans":[7],"but":[8],"challenging":[9],"high-DoF":[11],"robots,":[12],"particularly":[13],"given":[14],"fluid":[15,90,140,160],"simulation\u2019s":[16],"computational":[17,54],"demands":[18],"while":[19,147],"training":[20,149],"policies.":[21],"In":[22,132],"this":[23],"paper,":[24],"we":[25,134],"propose":[26],"DexPour,":[27],"novel":[29],"reinforcement":[30],"learning":[31],"method":[32],"with":[33,93,137],"hierarchical":[34,58],"rewards":[35],"and":[36,73,77,98,156],"Approximated":[37],"Proxy":[38],"Abstraction":[39],"(APA)":[40],"method.":[41],"APA":[42],"efficiently":[43],"approximates":[44],"liquid":[45,111],"behavior":[46],"using":[47],"small":[49],"set":[50],"of":[51,118,124],"spheres,":[52],"reducing":[53,148],"overhead.":[55],"Meanwhile,":[56],"our":[57],"reward":[59],"framework":[60],"breaks":[61],"down":[62],"the":[63,116,122],"intricate":[64],"pouring":[65,145],"process":[66],"into":[67],"four":[68],"distinct":[69],"stages\u2014approach,":[70],"grasp,":[71],"transport,":[72],"pour\u2014providing":[74],"fine-grained":[75],"feedback":[76],"fostering":[78],"stable":[79],"policy":[80],"learning.":[81],"Extensive":[82],"experiments":[83],"demonstrate":[84],"that":[85],"DexPour":[86,136],"achieves":[87],"92%":[89],"transfer":[91],"efficiency":[92,101,146,155],"70%":[95],"cup":[96],"fill":[97],"99%":[100],"at":[102],"30%":[103],"fill,":[104],"highlighting":[105],"its":[106],"robust":[107],"performance":[108],"across":[109],"varying":[110],"volumes.":[112],"Ablation":[113],"studies":[114],"highlight":[115],"contribution":[117],"each":[119],"component,":[120],"confirming":[121],"necessity":[123],"detailed":[125],"stage-wise":[126],"guidance":[127],"complex":[129],"dexterous":[130],"manipulation.":[131],"addition,":[133],"compare":[135],"full":[139],"simulation":[141],"baseline,":[142],"showing":[143],"comparable":[144],"time":[150],"by":[151],"81.6%,":[152],"demonstrating":[153],"DexPour\u2019s":[154],"practical":[157],"viability":[158],"manipulation":[161],"tasks.":[162]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
