Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories

Hugging Face Daily Papers Papers
robotics cleaning diffusion-policy trajectory-generation manipulation research

Summary

Push-Wiper is a robotics framework that reformulates viscous stain cleaning as an aggregation problem, using segmented pushing trajectories and a Diffusion Policy to generalize across stains, surfaces, and geometries, achieving up to 130% higher cleaning scores and zero-shot transfer.

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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Source: https://huggingface.co/papers/2608.00730

Abstract

Viscousstains,characterizedbyhighviscosityandcomplexrheologicalproperties,remainamajorchallengeforroboticsurfacecleaning.Conventionalwipingoftenspreadsthestain,whilescrubbingprovidesstrongerfrictionbutrisksdamagingthesurface.Inthispaper,weproposePush-Wiper,aframeworkthatreformulatesviscousstaincleaningasanaggregationproblem.Push-Wiperemploysaspongetoprogressivelygatherstainsthroughsegmentedpushingtrajectories,followedbyapost-processingphasethatdetachestheaggregatedmaterialandenablesspongeself-cleaning.WeadoptastepwisestrategyforstaingatheringandleverageDiffusionPolicytogenerateadaptivepushingactionsequences.ThesesequencesareexecutedthroughourArbitrarySurfacePoseInterpolator(ASPI)andahybridforce-positioncontroller,allowingthemethodtogeneralizetostainswithdiversespatialdistributions.Push-Wiperachievesacleaningscore(CS),definedasthepercentageofstainarearemoved,upto130%higherthanbaselinemethods.Withoutadditionaltraining,Push-Wiperalsotransfersinazero-shotmannertosolidresidues,liquidspills,unseenviscousstains,andcurvedsurfaceswithvaryinggeometries.OurexperimentsdemonstratethecleaningeffectivenessofPush-Wiperanditsstronggeneralizationability.Theprojectwebsiteisavailableathttps://push-wiper.github.io/.

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