{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/vision-based-robot-manipulation-of","title":"Vision-based robot manipulation of transparent liquid containers in a laboratory setting","arxiv_id":"2404.16529","date":"2024-04-25","proceeding":null,"authors":["Daniel Schober","Ronja Güldenring","James Love","Lazaros Nalpantidis"],"abstract":"Laboratory processes involving small volumes of solutions and active ingredients are often performed manually due to challenges in automation, such as high initial costs, semi-structured environments and protocol variability. In this work, we develop a flexible and cost-effective approach to address this gap by introducing a vision-based system for liquid volume estimation and a simulation-driven pouring method particularly designed for containers with small openings. We evaluate both components individually, followed by an applied real-world integration of cell culture automation using a UR5 robotic arm. Our work is fully reproducible: we share our code at at \\url{https://github.com/DaniSchober/LabLiquidVision} and the newly introduced dataset LabLiquidVolume is available at https://data.dtu.dk/articles/dataset/LabLiquidVision/25103102.","url_abs":"https://arxiv.org/abs/2404.16529v1","url_pdf":"https://arxiv.org/pdf/2404.16529v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"vision-based-robot-manipulation-of","repo_url":"https://github.com/danischober/labliquidvision","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"articles","task_name":"Articles"},{"task_slug":"robot-manipulation","task_name":"Robot Manipulation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}