{"id":"https://openalex.org/W4415593917","doi":"https://doi.org/10.1109/lra.2025.3625515","title":"SPILL: Size, Pose, and Internal Liquid Level Estimation of Transparent Glassware for Robotic Bartending","display_name":"SPILL: Size, Pose, and Internal Liquid Level Estimation of Transparent Glassware for Robotic Bartending","publication_year":2025,"publication_date":"2025-10-27","ids":{"openalex":"https://openalex.org/W4415593917","doi":"https://doi.org/10.1109/lra.2025.3625515"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3625515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3625515","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1854/LU-01K8DAZQMF08N0NXVXXHJF49F0","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5120152274","display_name":"Louis Adriaens","orcid":null},"institutions":[{"id":"https://openalex.org/I124674891","display_name":"Ablynx (Belgium)","ror":"https://ror.org/05s030550","country_code":"BE","type":"company","lineage":["https://openalex.org/I124674891"]},{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Louis Adriaens","raw_affiliation_strings":["AI and Robotics Lab (IDLab&#x2013;AIRO), Ghent University&#x2013;IMEC, Ghent, Belgium","1AI and Robotics Lab (IDLab-AIRO), Ghent University-imec, Technologiepark 126, Zwijnaarde, Belgium"],"raw_orcid":"https://orcid.org/0009-0001-8321-7066","affiliations":[{"raw_affiliation_string":"AI and Robotics Lab (IDLab&#x2013;AIRO), Ghent University&#x2013;IMEC, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]},{"raw_affiliation_string":"1AI and Robotics Lab (IDLab-AIRO), Ghent University-imec, Technologiepark 126, Zwijnaarde, Belgium","institution_ids":["https://openalex.org/I124674891"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085359187","display_name":"Thomas Lips","orcid":"https://orcid.org/0000-0001-9530-5349"},"institutions":[{"id":"https://openalex.org/I124674891","display_name":"Ablynx (Belgium)","ror":"https://ror.org/05s030550","country_code":"BE","type":"company","lineage":["https://openalex.org/I124674891"]},{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Thomas Lips","raw_affiliation_strings":["AI and Robotics Lab (IDLab&#x2013;AIRO), Ghent University&#x2013;IMEC, Ghent, Belgium","1AI and Robotics Lab (IDLab-AIRO), Ghent University-imec, Technologiepark 126, Zwijnaarde, Belgium"],"raw_orcid":"https://orcid.org/0000-0001-9530-5349","affiliations":[{"raw_affiliation_string":"AI and Robotics Lab (IDLab&#x2013;AIRO), Ghent University&#x2013;IMEC, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]},{"raw_affiliation_string":"1AI and Robotics Lab (IDLab-AIRO), Ghent University-imec, Technologiepark 126, Zwijnaarde, Belgium","institution_ids":["https://openalex.org/I124674891"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016977181","display_name":"Mathieu De Coster","orcid":"https://orcid.org/0000-0002-1103-2441"},"institutions":[{"id":"https://openalex.org/I124674891","display_name":"Ablynx (Belgium)","ror":"https://ror.org/05s030550","country_code":"BE","type":"company","lineage":["https://openalex.org/I124674891"]},{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Mathieu De Coster","raw_affiliation_strings":["AI and Robotics Lab (IDLab&#x2013;AIRO), Ghent University&#x2013;IMEC, Ghent, Belgium","1AI and Robotics Lab (IDLab-AIRO), Ghent University-imec, Technologiepark 126, Zwijnaarde, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-1103-2441","affiliations":[{"raw_affiliation_string":"AI and Robotics Lab (IDLab&#x2013;AIRO), Ghent University&#x2013;IMEC, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]},{"raw_affiliation_string":"1AI and Robotics Lab (IDLab-AIRO), Ghent University-imec, Technologiepark 126, Zwijnaarde, Belgium","institution_ids":["https://openalex.org/I124674891"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008600147","display_name":"Andreas Verleysen","orcid":"https://orcid.org/0000-0001-5071-5619"},"institutions":[{"id":"https://openalex.org/I124674891","display_name":"Ablynx (Belgium)","ror":"https://ror.org/05s030550","country_code":"BE","type":"company","lineage":["https://openalex.org/I124674891"]},{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Andreas Verleysen","raw_affiliation_strings":["AI and Robotics Lab (IDLab&#x2013;AIRO), Ghent University&#x2013;IMEC, Ghent, Belgium","1AI and Robotics Lab (IDLab-AIRO), Ghent University-imec, Technologiepark 126, Zwijnaarde, Belgium"],"raw_orcid":"https://orcid.org/0000-0001-5071-5619","affiliations":[{"raw_affiliation_string":"AI and Robotics Lab (IDLab&#x2013;AIRO), Ghent University&#x2013;IMEC, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]},{"raw_affiliation_string":"1AI and Robotics Lab (IDLab-AIRO), Ghent University-imec, Technologiepark 126, Zwijnaarde, Belgium","institution_ids":["https://openalex.org/I124674891"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089135657","display_name":"Francis wyffels","orcid":"https://orcid.org/0000-0002-5491-8349"},"institutions":[{"id":"https://openalex.org/I124674891","display_name":"Ablynx (Belgium)","ror":"https://ror.org/05s030550","country_code":"BE","type":"company","lineage":["https://openalex.org/I124674891"]},{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Francis Wyffels","raw_affiliation_strings":["AI and Robotics Lab (IDLab&#x2013;AIRO), Ghent University&#x2013;IMEC, Ghent, Belgium","1AI and Robotics Lab (IDLab-AIRO), Ghent University-imec, Technologiepark 126, Zwijnaarde, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-5491-8349","affiliations":[{"raw_affiliation_string":"AI and Robotics Lab (IDLab&#x2013;AIRO), Ghent University&#x2013;IMEC, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]},{"raw_affiliation_string":"1AI and Robotics Lab (IDLab-AIRO), Ghent University-imec, Technologiepark 126, Zwijnaarde, Belgium","institution_ids":["https://openalex.org/I124674891"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5120152274"],"corresponding_institution_ids":["https://openalex.org/I124674891","https://openalex.org/I32597200"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.30257964,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"12","first_page":"13288","last_page":"13295"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9480999708175659,"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":0.9480999708175659,"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/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.9354000091552734,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/robustness","display_name":"Robustness (evolution)","score":0.7875000238418579},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7127000093460083},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6011999845504761},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5863999724388123},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5095999836921692},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.41190001368522644},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.39079999923706055},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.38269999623298645}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7875000238418579},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7127000093460083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.675000011920929},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6176000237464905},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6011999845504761},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5863999724388123},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5514000058174133},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5095999836921692},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.41190001368522644},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.39079999923706055},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.38269999623298645},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.37459999322891235},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.3506999909877777},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.3400000035762787},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.32519999146461487},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.2694000005722046},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.26460000872612},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.2639000117778778},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25529998540878296},{"id":"https://openalex.org/C3018868555","wikidata":"https://www.wikidata.org/wiki/Q2918907","display_name":"Single camera","level":2,"score":0.2531999945640564},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2522999942302704}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3625515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3625515","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:archive.ugent.be:01K8DAZQMF08N0NXVXXHJF49F0","is_oa":true,"landing_page_url":"http://hdl.handle.net/1854/LU-01K8DAZQMF08N0NXVXXHJF49F0","pdf_url":null,"source":{"id":"https://openalex.org/S4306400478","display_name":"Ghent University Academic Bibliography (Ghent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32597200","host_organization_name":"Ghent University","host_organization_lineage":["https://openalex.org/I32597200"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"ISSN: 2377-3766","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:archive.ugent.be:01K8DAZQMF08N0NXVXXHJF49F0","is_oa":true,"landing_page_url":"http://hdl.handle.net/1854/LU-01K8DAZQMF08N0NXVXXHJF49F0","pdf_url":null,"source":{"id":"https://openalex.org/S4306400478","display_name":"Ghent University Academic Bibliography (Ghent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32597200","host_organization_name":"Ghent University","host_organization_lineage":["https://openalex.org/I32597200"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"ISSN: 2377-3766","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3263019856","display_name":null,"funder_award_id":"101070596","funder_id":"https://openalex.org/F4320321730","funder_display_name":"Fonds Wetenschappelijk Onderzoek"}],"funders":[{"id":"https://openalex.org/F4320321730","display_name":"Fonds Wetenschappelijk Onderzoek","ror":"https://ror.org/03qtxy027"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"perception":[1,53],"of":[2,14,18,73,115,135],"transparent":[3,75,203],"objects":[4],"presents":[5],"unique":[6],"challenges":[7,28],"due":[8],"to":[9,109,118],"their":[10],"refractive":[11],"properties,":[12],"lack":[13],"texture,":[15],"and":[16,42,62,89,113,214],"limitations":[17],"conventional":[19],"RGB-D":[20],"sensors":[21],"in":[22,34,103,138,160,174,212],"capturing":[23],"reliable":[24],"depth":[25,97],"information.":[26],"These":[27,193],"significantly":[29],"hinder":[30],"robotic":[31,105],"manipulation":[32],"capabilities":[33],"real-world":[35,120,163,202],"settings":[36],"such":[37],"as":[38],"household":[39],"assistance,":[40],"hospitality,":[41],"healthcare.":[43],"To":[44],"address":[45],"these":[46],"issues,":[47],"we":[48,122],"propose":[49],"SPILL:":[50],"A":[51],"lightweight":[52],"pipeline":[54],"for":[55,209],"<underline":[56,59,63,66,69],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[57,60,64,67,70,125],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">S</u>ize,":[58],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">P</u>ose,":[61],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">I</u>nternal":[65],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">L</u>iquid":[68],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">L</u>evel":[71],"estimation":[72],"unknown":[74],"glassware":[76],"using":[77],"a":[78,127,132,143,148,189,220],"single":[79],"view.":[80],"SPILL":[81,146],"combines":[82],"object":[83,204],"detection":[84,117,199],"with":[85,156,188],"semantic":[86],"keypoint":[87,116,198],"detection,":[88],"operates":[90],"without":[91,218],"requiring":[92],"object-specific":[93],"3D":[94],"models":[95],"or":[96],"completion.":[98],"We":[99,165],"demonstrate":[100,167,195],"its":[101],"effectiveness":[102],"autonomous":[104,154],"pouring":[106],"tasks.":[107],"Additionally,":[108],"enhance":[110],"the":[111,182,207],"robustness":[112,168],"generalization":[114],"diverse":[119,162],"scenarios,":[121],"introduce":[123],"<italic":[124],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Glasses-in-the-Wild</i>,":[126],"new":[128],"dataset":[129],"that":[130,196],"captures":[131],"wide":[133],"variety":[134],"glass":[136],"types":[137],"realistic":[139],"environments.":[140,177],"Evaluated":[141],"on":[142],"robot":[144,183],"manipulator,":[145],"achieves":[147],"93.6%":[149],"success":[150,191],"rate":[151],"across":[152],"500":[153],"pours":[155],"20":[157],"unseen":[158],"glasses":[159],"three":[161],"scenes.":[164],"further":[166],"through":[169],"multiple":[170],"live":[171],"public":[172],"events":[173],"real-world,":[175],"human-centered":[176],"In":[178],"one":[179],"recorded":[180],"session,":[181],"autonomously":[184],"served":[185],"62":[186],"drinks":[187],"98.3%":[190],"rate.":[192],"results":[194],"task-relevant":[197],"enables":[200],"scalable,":[201],"interaction,":[205],"paving":[206],"way":[208],"practical":[210],"applications":[211],"service":[213],"assistive":[215],"robotics":[216],"-":[217],"spilling":[219],"drop.":[221]},"counts_by_year":[],"updated_date":"2025-11-14T23:14:49.485078","created_date":"2025-10-28T00:00:00"}