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 Articial 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