In a self-driving lab , robots run experiments autonomously and select the next experiment to carry out by means of AI or optimization approaches. However, the lab automation requires automation of large set of operations such as reagent addition, stirring, and temperature control. One of the common actions that robots require to perform successfully in chemistry, materials, science and biology self-driving laboratories is that of transferring liquids accurately. Liquid pouring for chemistry experiments using a robot arm and regular glassware was proposed by Yoshikawa et al. , but its accuracy is limited due to the delayed feedback from the sensors. This work seeks to overcome those limitations by providing a simple solution that can be extended to many robotic settings.