Redefines viscous stain cleaning as an aggregation-post-processing task and enables zero-shot generalization for robotic cleaning on unseen stains and surfaces.</p>\n","updatedAt":"2026-08-05T04:48:41.594Z","author":{"_id":"686d185699645df570892710","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/no-auth/zjMBsWvDnRSxSHe0yJC7h.png","fullname":"wangmingxinthu","name":"wangmingxinthu","type":"user","isPro":false,"isHf":false,"isHfAdmin":false,"isMod":false,"isUserFollowing":false}},"numEdits":0,"identifiedLanguage":{"language":"en","probability":0.8221083879470825},"editors":["wangmingxinthu"],"editorAvatarUrls":["https://cdn-avatars.huggingface.co/v1/production/uploads/no-auth/zjMBsWvDnRSxSHe0yJC7h.png"],"reactions":[],"isReport":false}}],"primaryEmailConfirmed":false,"paper":{"id":"2608.00730","authors":[{"_id":"6a72c0771a375f948521c4e2","name":"Renhao Lu","hidden":false},{"_id":"6a72c0771a375f948521c4e3","name":"Mingxin Wang","hidden":false},{"_id":"6a72c0771a375f948521c4e4","name":"Chenyang Cao","hidden":false},{"_id":"6a72c0771a375f948521c4e5","name":"Yang Yang","hidden":false},{"_id":"6a72c0771a375f948521c4e6","name":"Guoping Pan","hidden":false},{"_id":"6a72c0771a375f948521c4e7","name":"Kangkang Dong","hidden":false},{"_id":"6a72c0771a375f948521c4e8","name":"Yi Cheng","hidden":false},{"_id":"6a72c0771a375f948521c4e9","name":"Houde Liu","hidden":false}],"publishedAt":"2026-08-01T00:00:00.000Z","submittedOnDailyAt":"2026-08-05T00:00:00.000Z","title":"Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories","submittedOnDailyBy":{"_id":"686d185699645df570892710","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/no-auth/zjMBsWvDnRSxSHe0yJC7h.png","isPro":false,"fullname":"wangmingxinthu","user":"wangmingxinthu","type":"user","name":"wangmingxinthu"},"summary":"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/.","upvotes":1,"discussionId":"6a72c0771a375f948521c4ea","projectPage":"https://push-wiper.github.io/","organization":{"_id":"628735cbc83a2d6ab8d14a66","name":"Tsinghua","fullname":"Tsinghua University","avatar":"https://www.gravatar.com/avatar/6c5c1441e3283e7543342e59277ea219?d=retro&size=100"}},"canReadDatabase":false,"canManagePapers":false,"canSubmit":false,"hasHfLevelAccess":false,"upvoted":false,"upvoters":[{"_id":"686d185699645df570892710","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/no-auth/zjMBsWvDnRSxSHe0yJC7h.png","isPro":false,"fullname":"wangmingxinthu","user":"wangmingxinthu","type":"user"}],"acceptLanguages":["en"],"dailyPaperRank":0,"organization":{"_id":"628735cbc83a2d6ab8d14a66","name":"Tsinghua","fullname":"Tsinghua University","avatar":"https://www.gravatar.com/avatar/6c5c1441e3283e7543342e59277ea219?d=retro&size=100"},"markdownContentUrl":"https://huggingface.co/buckets/huggingchat/papers-content/resolve/2608/2608.00730.md","query":{}}">
Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories
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/.
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Redefines viscous stain cleaning as an aggregation-post-processing task and enables zero-shot generalization for robotic cleaning on unseen stains and surfaces.
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Cite arxiv.org/abs/2608.00730 in a model README.md to link it from this page.
Cite arxiv.org/abs/2608.00730 in a dataset README.md to link it from this page.
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