Papers:

Adaptable Pouring: Teaching Robots Not to Spill using Fast but Approximate Fluid Simulation

Use optimization and fluid simulation, some good references

Reinforcement Learning: A Survey, 1996

Journal of Articial Intelligence Research

https://www.jair.org/media/301/live-301-1562-jair.pdf

Reinforcement learning textbook

http://incompleteideas.net/book/bookdraft2017nov5.pdf

Precise dispensing of liquids using visual feedback
https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8202301