| title | Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories |
|---|---|
| authors | Renhao Lu, Mingxin Wang, Chenyang Cao, Yang Yang, Guoping Pan, Kangkang Dong, Yi Cheng, Houde Liu |
| date | 2026-08-01 |
| venue | arXiv (preprint, not peer reviewed) |
| id | arXiv:2608.00730 |
| affiliation | Tsinghua University |
| upvotes | 5 (Hugging Face Daily Papers, 2026-11-01) |
| links | abs pdf hf |
| abstract | Viscous stains, characterized by high viscosity and complex rheological properties, remain a major challenge for robotic surface cleaning. Conventional wiping often spreads the stain, while scrubbing provides stronger friction but risks damaging the surface. In this paper, we propose Push-Wiper, a framework that reformulates viscous stain cleaning as an aggregation problem. Push-Wiper employs a sponge to progressively gather stains through segmented pushing trajectories, followed by a post-processing phase that detaches the aggregated material and enables sponge self-cleaning. We adopt a stepwise strategy for stain gathering and leverage Diffusion Policy to generate adaptive pushing action sequences. These sequences are executed through our Arbitrary Surface Pose Interpolator (ASPI) and a hybrid force-position controller, allowing the method to generalize to stains with diverse spatial distributions. Push-Wiper achieves a cleaning score (CS), defined as the percentage of stain area removed, up to 130% higher than baseline methods. Without additional training, Push-Wiper also transfers in a zero-shot manner to solid residues, liquid spills, unseen viscous stains, and curved surfaces with varying geometries. Our experiments demonstrate the cleaning effectiveness of Push-Wiper and its strong generalization ability. The project website is available at https://push-wiper.github.io/. |
cite
@misc{lu2026push,
title={Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories},
author={Renhao Lu and Mingxin Wang and Chenyang Cao and Yang Yang and Guoping Pan and Kangkang Dong and Yi Cheng and Houde Liu},
year={2026},
eprint={2608.00730},
archivePrefix={arXiv},
url={https://arxiv.org/abs/2608.00730}
}