Push-Wiper uses a diffusion policy to generate segmented sponge-pushing trajectories that aggregate viscous stains into a compact region, then removes the residue with post-processing primitives.
A floor cleaning robot for domestic environments,
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Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories
Push-Wiper uses a diffusion policy to generate segmented sponge-pushing trajectories that aggregate viscous stains into a compact region, then removes the residue with post-processing primitives.