Tsinghua Introduces Push-Wiper Framework for Robotic Cleaning
Tsinghua · hf · 2026-08-05
To address the challenge of robotic cleaning for viscous stains, this paper introduces Push-Wiper. The framework reformulates cleaning as an aggregation problem, using a sponge with segmented pushing trajectories to gather stains progressively, followed by a self-cleaning post-processing phase.
- Technique: Leverages Diffusion Policy to generate adaptive pushing actions, executed via an Arbitrary Surface Pose Interpolator (ASPI) and a hybrid force-position controller.
- Generalization: Achieves a cleaning score (CS) up to 130% higher than baselines. It transfers in a zero-shot manner to solid residues, liquid spills, and unseen curved surfaces without additional training.
- Conclusion: Demonstrates strong cleaning effectiveness and robust generalization across diverse geometries.
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